Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

Abstract A super redundant serpentine manipulator has slender structure and multiple degrees of freedom. It can travel through narrow spaces and move in complex spaces. This manipulator is composed of many modules that can form different lengths of robot arms for different application sites. The inc...

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Bibliographic Details

Published in:	Chinese Journal of Mechanical Engineering
Main Authors:	Li Chen, Ying Ma, Yu Zhang, Jinguo Liu
Format:	Article
Language:	English
Published:	SpringerOpen 2020-10-01
Subjects:	Super redundant manipulator Multi target tracking Follow-the-leader Obstacle avoidance Bezier curve PSO
Online Access:	http://link.springer.com/article/10.1186/s10033-020-00491-x