Optimization of PID Control of a Snake Robot’s Winding Crawling Motion

Abstract

This paper explores the application of PID control to the winding crawling motion of a snack robot. Snack robots, mimicking the movement of real life limbless reptile, are designed with ultiple connected segments equipped with actuators and sensors, enabling them to navigate complex environments. The study aims to optimize the ground crawling behavior and obstacle avoidance f the snake-like robot using MATLAB simulation software. Initially, the robot’s joints were modeled in SolidWorks, and their degrees of freedom were programmed in MATLAB’s Simulink to enable controlled rotation. The PID control system was added to manage the robot’s motion, ensuring smooth and accurate crawling.