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We propose a novel method of navigating a snake-like robot based on the Harmonic Field with Optimized Boundary Conditions (HFOBC) and a boundary following algorithm. We apply the HFOBC navigation function using a number of fictitious charges equally spaced on each link. These charges actively follow the potential field towards the target. Futhermore, a generalized mathematical model for an n-link snake-like robot based on Lagrange formulation has also been proposed in this paper.<\/jats:p>","DOI":"10.2478\/s13230-011-0005-9","type":"journal-article","created":{"date-parts":[[2011,2,26]],"date-time":"2011-02-26T16:19:51Z","timestamp":1298737191000},"source":"Crossref","is-referenced-by-count":0,"title":["Motion Planning of a Snake-Like Robot Using an Optimized Harmonic Potential Field"],"prefix":"10.2478","volume":"1","author":[{"given":"Samer","family":"Charifa","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marwan","family":"Bikdash","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"374","reference":[{"key":"5_CR1","volume-title":"Biologically Inspired Robots: Snake-Like Locomotors and Manipulators","author":"S. Hirose","year":"1993","unstructured":"S. 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