Path Planning of Continuum Robot Based on Path Fitting

<div>Barrier-free space path planning. 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45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg> barrier-free space path planning. (b) <svg height="14.8173pt" id="M128" style="vertical-align:-5.52897pt" version="1.1" viewbox="-0.0498162 -9.28833 110.786 14.8173" width="110.786pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 480C600 590 528 650 384 650H143L137 622C222 614 225 607 210 531L130 127C113 41 106 36 23 28L17 0H294L300 28C204 36 195 42 212 127L243 284L314 263C327 263 339 263 352 264C465 271 600 337 600 480ZM508 481C508 351 402 304 329 304C289 304 265 311 250 317L295 559C302 594 310 606 323 611C335 616 350 619 367 619C455 619 508 573 508 481Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.656,3.132)"><path d="M298 36L289 62C276 55 253 45 228 45C202 45 169 60 169 141V397H276C289 405 292 426 282 437H169V574L155 576L90 509V437H45L17 408L21 397H90V107C90 28 125 -12 188 -12C198 -12 213 -8 230 1L298 36Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.486,3.132)"><path d="M433 39L423 65C413 59 399 54 387 54C370 54 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Journal of Control Science and Engineering

Path Planning of Continuum Robot Based on Path Fitting

Figure 10