@inproceedings{4c23fa8851bb4ebba6acadd6b76c347c,
title = "RGB-D Camera Based Map Building and Path Planning of Snake Robot",
abstract = "Snake robot is a robot that can move freely in a small and complex space with super-redundant DOF and motion flexibility, and it has been proven to have a wide range of application prospects. RGB-D camera is a new type of visual sensor that can directly obtain color images and depth information. To enable the snake robot to work in some special task environments, we developed an orthogonal modular snake robot using RGB-D cameras, and conducted research on snake robot map building and path planning. An improved Batch Informed Tree (BIT*) algorithm is proposed. Finally, to verify the effectiveness of the proposed method, a corresponding experimental program is designed and related experimental analysis is carried out. The results show that our designed snake robot can complete the task of map building and path planning.",
keywords = "Map building, Path planning, Snake robot",
author = "Yongjun Sun and Qiang Wang and Zhao Xue and Rongqiang Liu and Hong Liu",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",
year = "2023",
doi = "10.1007/978-981-99-6483-3\_40",
language = "英语",
isbn = "9789819964826",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "471--483",
editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhiyong Wang and Zhouping Yin and Lianqing Liu",
booktitle = "Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings",
address = "德国",
}