Path Planning of Continuum Robot Based on Path Fitting
The Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection. However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging t...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2020/8826749 |
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| _version_ | 1832561163328552960 |
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| author | Guochen Niu Yunxiao Zhang Wenshuai Li |
| author_facet | Guochen Niu Yunxiao Zhang Wenshuai Li |
| author_sort | Guochen Niu |
| collection | DOAJ |
| description | The Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection. However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging task. In this paper, a path planning method for Continuum Robot based on an equal curvature model in an aircraft fuel tank environment is proposed. Considering the complexity of calculation and the structural characteristics of Continuum Robot, a feasible obstacle avoidance discrete path is obtained by using the improved RRT algorithm. Then, joint fitting is performed on the existing discrete path according to the kinematic model of Continuum Robot, joint obstacle avoidance was conducted in the process of fitting, and finally, a motion path suitable for the Continuum Robot was selected. A reasonable experiment is designed based on MATLAB, and simulation and analysis results demonstrate excellent performance of this method and feasibility of path planning. |
| format | Article |
| id | doaj-art-996ada6d666c44179438ed01eec05294 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-996ada6d666c44179438ed01eec052942025-02-03T01:25:46ZengWileyJournal of Control Science and Engineering1687-52491687-52572020-01-01202010.1155/2020/88267498826749Path Planning of Continuum Robot Based on Path FittingGuochen Niu0Yunxiao Zhang1Wenshuai Li2Robotics Institute, Civil Aviation University of China, Tianjin, ChinaRobotics Institute, Civil Aviation University of China, Tianjin, ChinaRobotics Institute, Civil Aviation University of China, Tianjin, ChinaThe Continuum Robot has a multiredundant dof structure, which is extremely advantageous in the unstructured environment, and can complete such tasks as aircraft fuel tank inspection. However, due to its complex kinematics and coupling of joint motion, its motion path planning is also a challenging task. In this paper, a path planning method for Continuum Robot based on an equal curvature model in an aircraft fuel tank environment is proposed. Considering the complexity of calculation and the structural characteristics of Continuum Robot, a feasible obstacle avoidance discrete path is obtained by using the improved RRT algorithm. Then, joint fitting is performed on the existing discrete path according to the kinematic model of Continuum Robot, joint obstacle avoidance was conducted in the process of fitting, and finally, a motion path suitable for the Continuum Robot was selected. A reasonable experiment is designed based on MATLAB, and simulation and analysis results demonstrate excellent performance of this method and feasibility of path planning.http://dx.doi.org/10.1155/2020/8826749 |
| spellingShingle | Guochen Niu Yunxiao Zhang Wenshuai Li Path Planning of Continuum Robot Based on Path Fitting Journal of Control Science and Engineering |
| title | Path Planning of Continuum Robot Based on Path Fitting |
| title_full | Path Planning of Continuum Robot Based on Path Fitting |
| title_fullStr | Path Planning of Continuum Robot Based on Path Fitting |
| title_full_unstemmed | Path Planning of Continuum Robot Based on Path Fitting |
| title_short | Path Planning of Continuum Robot Based on Path Fitting |
| title_sort | path planning of continuum robot based on path fitting |
| url | http://dx.doi.org/10.1155/2020/8826749 |
| work_keys_str_mv | AT guochenniu pathplanningofcontinuumrobotbasedonpathfitting AT yunxiaozhang pathplanningofcontinuumrobotbasedonpathfitting AT wenshuaili pathplanningofcontinuumrobotbasedonpathfitting |