Related Experiment Video
Updated: Oct 15, 2025
10:09
Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
6.8K
Obstacle Avoidance Path Planning for Worm-like Robot Using Bézier Curve
Yifan Wang1, Zehao Liu1, Akhil Kandhari1
1Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH 44106, USA.
Biomimetics (Basel, Switzerland)
|October 26, 2021
Summary
Worm-like robots use optimized path planning and obstacle avoidance for complex environments. Increased robot segments require larger clearance to prevent collisions, ensuring safer navigation.
Area of Science:
- Robotics
- Control Systems
- Computational Geometry
Background:
- Worm-like robots offer unique advantages for navigating confined and complex spaces.
- Applications include pipe inspection, search and rescue, and medical procedures like endoscopy.
Purpose of the Study:
- To develop advanced path planning and obstacle avoidance algorithms for peristaltic worm-like robots.
- To enhance navigation capabilities in challenging, deformable environments.
Main Methods:
- Utilized a modified rapidly exploring random tree (RRT) algorithm for path generation.
- Integrated Bézier curves for improved path optimization and smoothness.
- Developed obstacle avoidance algorithms and conducted turning tests on a six-segment robot simulation.
Main Results:
- Determined a safe turning clearance of six body diameters for a six-segment robot.
- Identified that reduced clearance necessitates supplementary locomotion strategies (e.g., backward movement).
- Demonstrated that increasing segment count amplifies path divergence between head and tail segments.
Conclusions:
- Bézier curves enhance path planning flexibility and smoothness for worm-like robots.
- Segment count directly impacts required lateral clearance, with more segments needing greater margins.
- The developed algorithms improve the safety and efficiency of worm-like robot navigation.
Related Concept Videos
01:03Horizontal Curve: Problem Solving
143
A horizontal curve is characterized by its radius, intersection angle, and stationing of key points. In this case, the radius is 400 meters, and the angle of intersection is 30 degrees, with the station of the point of curvature (P.C.) at 0 + 150 meters. The goal is to determine the station values at the point of intersection (P.I.), point of tangency (P.T.), and midpoint of the curve, as well as the length of the long chord.The process begins with calculating the tangent distance (T) and the...
143
01:23Vertical Curve: Problem Solving
211
Vertical curves provide the transition between two roadway grades, ensuring safety, comfort, and functionality. Calculating elevations at specific stations along the curve involves several systematic steps based on the curve's geometry and provided design parameters.The vertical curve is defined by its length, grades, Point of Vertical Intersection (P.V.I.) location, and P.V.I. elevation. The stations of the Point of Vertical Curvature (P.V.C.), where the curve begins, and the Point of Vertical...
211
01:17Rolling Resistance: Problem Solving
508
Rolling resistance, also known as rolling friction, is the force that resists the motion of a rolling object, such as a wheel, tire, or ball, when it moves over a surface. It is caused by the deformation of the object and the surface in contact with each other, as well as other factors like internal friction, hysteresis, and energy losses within the materials. Rolling resistance opposes the object's motion, requiring additional energy to overcome it and maintain movement. In practical...
508
01:22Planar Rigid-Body Motion
620
Understanding the movement of a rigid body in planar motion involves recognizing that every particle within this body is traversing a path that maintains a consistent distance from a specific plane. This concept is fundamental in the study of physics and mechanical engineering, and it allows us to comprehend better how objects move in space.
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
Planar motion is typically divided into three distinct categories. The first is rectilinear translation, demonstrated by a subway train that moves along...
620
01:03Centroid of a Body: Problem Solving
1.4K
The centroid of a body is a crucial concept in engineering and physics. Finding the centroid of a body can help determine its stability, its balance point, and even its design. In this context, consider a thin wire bent in the form of a quarter circular arc. Polar coordinates are used to calculate the centroid. The wire is first divided into small differential elements of a length equal to the radius multiplied by the differential angle.
The x-coordinates and y-coordinates of each element's...
The x-coordinates and y-coordinates of each element's...
1.4K
01:20Elevation of Intermediate Points on Vertical Curves
94
Vertical curves are essential in roadway design because they provide smooth transitions between varying roadway grades. Designing vertical curves involves calculating intermediate elevations and identifying the curve's highest or lowest point, which is essential for optimal roadway performance.Intermediate elevations on a vertical curve are determined using the tangent offset method. This method considers the initial elevation at the start of the curve, the grades, and the curve's geometry. The...
94