The flexibility of the snake robot body and its ability to adapt to different types of terrain attracted the attention of researchers to the great possibilities of its application in inspection, rescue, and searching tasks. These tasks require the robot to have the ability to navigate
smartly in a complex environment (CE), which is considered to be one of the most critical challenges in the robotics field. The robot should be able to sense the surrounding environment and overcome different types of obstacles. In this paper, we have presented a review of the different type
of snake robot locomotion and the controlling strategies in an environment with obstacles. We focus on avoidance obstacle locomotion as it is considered to be the most common strategy for dealing with obstacles. In addition, various types of modeling and controlling of locomotion with the
presence of obstacles are discussed. Finally, a recommendation on the introduction of an obstacle detection system (ODS) and sensor fusion technology is given.
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