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An approach for real-time motion planning of an inchworm robot in complex steel bridge environments

Published online by Cambridge University Press:  11 February 2016

David Pagano  and
Dikai Liu Open the ORCID record for Dikai Liu [Opens in a new window]
David Pagano*
Affiliation:
Centre for Autonomous Systems, University of Technology Sydney Broadway, NSW 2007, Australia. E-mail: [email protected]
Dikai Liu
Affiliation:
Centre for Autonomous Systems, University of Technology Sydney Broadway, NSW 2007, Australia. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

Path planning can be difficult and time consuming for inchworm robots especially when operating in complex 3D environments such as steel bridges. Confined areas may prevent a robot from extensively searching the environment by limiting its mobility. An approach for real-time path planning is presented. This approach first uses the concept of line-of-sight (LoS) to find waypoints from the start pose to the end node. It then plans smooth, collision-free motion for a robot to move between waypoints using a 3D-F2 algorithm. Extensive simulations and experiments are conducted in 2D and 3D scenarios to verify the approach.

Keywords

Inchworm robotMotion planningComplex environmentsReal-timeLine-of-sight
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1280 - 1309
Copyright
Copyright © Cambridge University Press 2016 

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