Generalized Voronoi Diagram-Guided and Contact-Optimized Motion Planning for Snake Robots
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0200875" target="_blank" >RIV/00216305:26210/26:0200875 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2227-7390/14/2/332" target="_blank" >https://www.mdpi.com/2227-7390/14/2/332</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/math14020332" target="_blank" >10.3390/math14020332</a>
Alternative languages
Result language
angličtina
Original language name
Generalized Voronoi Diagram-Guided and Contact-Optimized Motion Planning for Snake Robots
Original language description
In robot motion planning in a space with obstacles, the goal is to find a collision-free path for robots from the start to the target position. Numerous fundamentally different approaches, and their many variants, address this problem depending on the types of obstacles, the dimensionality of the space and the restrictions on robot movements. We present a hierarchical motion planning framework for snake-like robots navigating cluttered environments. At the global level, a bounded Generalized Voronoi Diagram (GVD) generates a maximal-clearance path through complex terrain. To overcome the limitations of pure avoidance strategies, we incorporate a local trajectory optimization layer that enables Obstacle-Aided Locomotion (OAL). This is realized through a simulation-in-theloop system in CoppeliaSim, where gait parameters are optimized using Particle Swarm Optimization (PSO) based on contact forces and energy efficiency. By coupling high-level deliberative planning with low-level contact-aware control, our approach enhances both adaptability and locomotion efficiency. Experimental results demonstrate improved motion performance compared to conventional planners that neglect environmental contact.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2026
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Mathematics
ISSN
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e-ISSN
2227-7390
Volume of the periodical
14
Issue of the periodical within the volume
2
Country of publishing house
CH - SWITZERLAND
Number of pages
17
Pages from-to
1-17
UT code for WoS article
001670988100001
EID of the result in the Scopus database
2-s2.0-105028598699