基于区域行进策略的飞机油箱检查机器人路径规划算法

Path planning algorithm based on regional-advance strategy for aircraft fuel tank inspection robot

针对类似于飞机油箱环境中连续型机器人的路径规划问题,设计基于区域行进策略的路径规划算法,结合机器人本体结构约束规划到达油箱内任意给定目标点的路径。连续型机器人具有运动灵活性,但超冗余自由度导致了三维空间规划的多解性,增加了算法的复杂度。采用降低维度的方式,通过将三维空间转化为二维平面进行规划,降低了算法的时间复杂度。将飞机油箱的单舱划分为两个区域,根据目标点所处区域位置确定规划策略。最后,基于Matlab对所提算法进行仿真,实验结果验证了算法的可行性和有效性。

To get a path for a continuum robot in the environment like the aircraft fuel tank, a path planning algorithm based on regional-advance strategy was proposed. By combining with the mechanical constraints of the robot, the method could ensure that arbitrary points can be reached in the single cabin. With the flexibility of movement, but the hyper-redundant freedom degree of the continuum robot brings about both the multiple path solutions in three-dimensional space and high time complexity. The approach based on dimension reduction, which is transforming the planning in three-dimensional space into that in two-dimensional plane, was presented to reduce the computing complexity. The single cabin of the aircraft fuel tank was divided to two regions, and the planning strategy was determined by the regional location of the target point. Finally, the Matlab simulation experiments were carried out, and the practicability and effectiveness of the proposed method were verified.