期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 4, 页码 7493-7500出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3097265
关键词
Continuum robot; robotics in hazardous fields; coiling; motion and path planning; collision avoidance
类别
资金
- U.K. EPSRC Project Robotics and Artificial Intelligence in Nuclear (RAIN) [EP/R026084/1]
Efficient path planning for hyper-redundant continuum and snake-like robots is challenging due to limited sensing capabilities and high computational loads. This letter presents a new approach with an algorithm that enables online step-by-step position adjustment, significantly improving robot performance for inspection and maintenance tasks in nuclear facilities. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot.
Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This letter presents a new approach to snake robot navigation and coiling, with an algorithm that enables online step-by-step position adjustment with a follow-the-leader strategy, significantly improving the performance of the robot when compared to previous methods. The proposed algorithm is demonstrated on a 16-degree-of-freedom snake-like robot for inspection and maintenance tasks in nuclear facilities.
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