A Review on the Recent Development of Planar Snake Robot Control and Guidance

Ningwei Li, Fei Wang, Shanjun Ren, Xin Cheng, Gang Wang () and Peng Li
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Ningwei Li: Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China
Fei Wang: School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China
Shanjun Ren: Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China
Xin Cheng: Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China
Gang Wang: Institute of Machine Intelligence, University of Shanghai for Science and Technology, Shanghai 200093, China
Peng Li: School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China

Mathematics, 2025, vol. 13, issue 2, 1-21

Abstract: Snake robots, inspired by the biology of snakes, are bionic robots with multiple degrees of freedom and strong robustness. These robots represent a current area of significant research interest within the field of robotics. Snake robots have a wide range of applications in many fields, advancing the integration of bionics, robotics, and cybernetics, while playing a crucial role in performing survey and rescue missions. This survey presents the latest technological advancements in modeling, motion control, and guidance laws for planar snake robots, and provides a unified perspective based on the existing results. To achieve target-tracking control of robots in complex environments, we present a feasible approach that integrates guided vector field technology and transforms the target-tracking and obstacle avoidance problem into a reference angle tracking issue. Finally, this paper analyzes and summarizes the development process and key technologies of snake robot control and provides an outlook on future development trends.

Keywords: snake robots; mathematical modeling; motion control; guidance law (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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