SUMMARYFor acquiring a broad view in an unknown environment, we proposed a control strategy based on the Bézier curve for the snake robot raising its head. Then, an improved discretization method was developed to accommodate the backbone curves with more complex shapes. Besides, in order to determine the condition of using the improved discretization method, energy of framed space curve is introduced originally to estimate the shape complexity of the backbone curve. At last, based on degree elevation of the Bézier curve, an obstacle avoidance strategy of the head-raising motion was proposed and validated through simulation.

中文翻译：

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基于贝塞尔曲线的蛇形机器人抬头方法

摘要为了在未知环境中获得广阔的视野，我们提出了一种基于贝塞尔曲线的蛇形机器人抬起头的控制策略。然后，开发了一种改进的离散化方法来适应具有更复杂形状的主干曲线。此外，为了确定使用改进离散化方法的条件，最初引入框架空间曲线的能量来估计主干曲线的形状复杂度。最后，基于Bézier曲线的度数提升，提出了一种仰头运动避障策略，并通过仿真验证。