Collision free path planning based on region clipping for aircraft fuel tank inspection robot

Abstract

Continuum robot has potential to run freely through a cluttered environment as aircraft fuel tank. To improve manual maintenance, we designed an aircraft fuel tank inspection robot which was composed of cable-driven sections. A suitable path is essential for the robot to reach the target zone while avoiding obstacles, but path planning for continuum robot is a challenge due to their complex kinematics models. To depict the collision free planning problem, a nonlinear, constrained optimization formulation was adopted. Projection strategy was presented and an imaginary straight line between the origin and the target was made up as a reference line to simplify the planning problem. We focused on the decrease of computing time complexity, and based on region clipping, a novel forward search method was proposed to solve this optimization-based planning problem. With the reference straight line, the minimum distance summation (MDS) was calculated to decide the optimal path relatively. Experiments on MATLAB were reasonably designed. Simulations and results analysis demonstrated excellent performance of region clipping search method and feasibility of the avoidance algorithm.

Obstacle Avoidance and Multitarget Tracking of a Super Redundant Modular Manipulator Based on Bezier Curve and Particle Swarm Optimization

“…The manipulator does not collide with the obstacle when k>1 or k<0 (second scenario in Figure 5). The (11)…”

“…This paper aims to reduce the complexity of optimization calculation. Niu et al [11] presented a projection strategy and region clipping method to reduce the computational complexity. Godage et al [12] developed a mode shape function-based kinematic model of continuum manipulators and efficiently yielded accurate solutions.…”

Path Planning of Continuum Robot Based on Path Fitting

“…Compared with the traditional rigid connecting rod robot, the Continuum Robot has the characteristics of multiple redundant degrees of freedom and the separation of the driver and controller, which can theoretically reach any point in space [2,3]. erefore, it is more flexible, safe, and suitable for aircraft fuel tank inspection tasks [4]. At present, many researchers have explored the application of Continuum Robots in human surgery [5], the maintenance of gas turbine engines [6], and the maintenance of nuclear power plants [7].…”

Obstacle avoidance and multitarget tracking of a super redundant modular manipulator based on Bezier curve and particle swarm optimization

“…This paper aims to reduce the complexity of optimization calculation. Niu [11] presented a projection strategy and region clipping method to reduce the computational complexity. Godage [12] developed a mode shape functionbased kinematic model of continuum manipulators and efficiently yielded accurate solutions.…”