Year: 2026
Type: article
Abstract: 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-the-loop 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.
Source: Mathematics
DOI: 10.3390/math14020332
Authors: Mhd Ali Shehadeh, Milos Seda
Institution: Brno University of Technology
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W7124827289