Classical snake robot control leverages mimicking snake-like gaits tuned for specific environments. However, to operate adaptively in unstructured environments, gait generation must be dynamically scheduled. In this work, we present a four-layer hierarchical control scheme to enable the snake robot to navigate freely in large-scale environments. The proposed model decomposes navigation into global planning, local planning, gait generation, and gait tracking. Using reinforcement learning (RL) and a central pattern generator (CPG), our method learns to navigate in complex mazes within hours and can be directly deployed to arbitrary new environments in a zero-shot fashion. We use the high-fidelity model of Northeastern's slithering robot COBRA to test the effectiveness of the proposed hierarchical control approach.

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