CGA-Based Snake Robot Control Model

The snake robot is a nonholonomic mechanism composed of links equipped with passive wheels, connected by actuated joints whose motion mimics the locomotion of biological snakes.Control models intended for small-time local controllability are usually obtained by means of differential geometry, or, more recently, geometric algebra.Geometric algebras, also known as Clifford algebras, are an algebraic structure useful for modelling geometric objects and their transformations.We present an approach utilising the two-dimensional Conformal Geometric Algebra in order to derive the differential kinematics of the mechanism.A control model for small-time local controllability is created based on obtained differential kinematics, which is then used in visualization.