Optimal bumping avoidance for snake-like robot’s serpentine movement controlling

This paper shows the development of controlling system of snake robot´s movement in order to make the Serpentine movement more effective when it goes into narrow path. Snake robot consists of many servo motors serially linked to each other and has its length like a medium-sized snake´s. This controlling system measures the side lengths, which are inputs, from the sensors attached on the head of the robot. The robot then processes the inputs and uses them to control the width of crawling in order to perform the crawling at the best speed on limited path. The ways to control it to move forward, backward, left, right, and algorithms used to control are already explained. The result of this experiment, which is an achievement of movement in different locations, shows that it works effectively.