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

Pagano, D; Liu, D

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

Pagano, D Liu, D

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Publication Type:: Journal Article
Citation:: Robotica, 2017, 35 (6), pp. 1280 - 1309
Issue Date:: 2017-06-01

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Field	Value	Language
dc.contributor.author	Pagano, D	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.date.available	2020-05-25T19:28:14Z
dc.date.issued	2017-06-01	en_US
dc.identifier.citation	Robotica, 2017, 35 (6), pp. 1280 - 1309	en_US
dc.identifier.issn	0263-5747	en_US
dc.identifier.uri	http://hdl.handle.net/10453/43505
dc.description.abstract	© Cambridge University Press 2016. 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.	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP100200750
dc.relation.ispartof	Robotica	en_US
dc.relation.isbasedon	10.1017/S0263574716000047	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	An approach for real-time motion planning of an inchworm robot in complex steel bridge environments	en_US
dc.type	Journal Article
utslib.citation.volume	6	en_US
utslib.citation.volume	35	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.issue	6	en_US
pubs.publication-status	Published	en_US
pubs.volume	35	en_US

Abstract:

© Cambridge University Press 2016. 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.

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http://hdl.handle.net/10453/43505