While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolatio...While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.展开更多
物流配送路径优化问题已经成为人们十分关注的问题。本文提出一种基于时空模式的仓库物流配送路径优化方法,有效避开交通堵塞的道路。利用时空模式来进行部分寻优,能够有效的避免迂回探测的发生。研究结果显示,本文提出的仓库物流配送路...物流配送路径优化问题已经成为人们十分关注的问题。本文提出一种基于时空模式的仓库物流配送路径优化方法,有效避开交通堵塞的道路。利用时空模式来进行部分寻优,能够有效的避免迂回探测的发生。研究结果显示,本文提出的仓库物流配送路径(Optimization of warehouse logistics distribution path,OWLDP)优化方法比回避查找方法提高了9%,略优于Map Info;当与Map Info求解的OWLDP路径长度差异在1%以内时,基于时空模式方法的效率比回避方法提高了50%,表明时空模式具有很好的优化潜力。展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51435010,and 91848204)。
文摘While cable-driven snake robots are promising in exploring confined spaces, their hyper-redundancy makes the collision-free motion planning difficult. In this paper, by combining the prediction lookup and interpolation algorithms, we present a new path following method for cable-driven snake robots to high-efficiently slither into complex terrains along a desired path. In our method, we first discretize the desired path into points, and develop the prediction lookup algorithm to efficiently find the points matched with joints of the robot. According to geometric relations between the prediction lookup results and link length of the robot, we develop the interpolation algorithm to reduce the tracking errors caused by the discretization. Finally, simulations and experiments of inspections in two confined spaces including the obstacle array and pipe tank system are performed on our custom-built 25 degree of freedoms(DOFs) cable-driven snake robot. The results demonstrate that the presented method can successfully navigate our snake robot into confined spaces with high computational efficiency and good accuracy, which well verifies effectiveness of our development.
文摘物流配送路径优化问题已经成为人们十分关注的问题。本文提出一种基于时空模式的仓库物流配送路径优化方法,有效避开交通堵塞的道路。利用时空模式来进行部分寻优,能够有效的避免迂回探测的发生。研究结果显示,本文提出的仓库物流配送路径(Optimization of warehouse logistics distribution path,OWLDP)优化方法比回避查找方法提高了9%,略优于Map Info;当与Map Info求解的OWLDP路径长度差异在1%以内时,基于时空模式方法的效率比回避方法提高了50%,表明时空模式具有很好的优化潜力。
