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题名: Path planning for inchworm-like robot moving in narrow space
作者: Jiang Y(姜勇) ; Wang HG(王洪光) ; Fang LJ(房立金)
作者部门: 机器人学研究室
会议名称: 2009 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009
会议日期: December 15-18, 2009
会议地点: Shanghai, China
会议主办者: IEEE
会议录: Proceedings of the 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2009
页码: 5977-5984
收录类别: EI
摘要: Considering the kinematic constraints and the path discreteness, a novel path planning method based on the feasible gait is proposed for an inchworm-like robot moving in a narrow space in this paper. Firstly, by analyzing the locomotion modes and the basic gaits of the robot, some arithmetic operators to describe the change of the position and orientation are defined, and a gait graph model is also presented. Secondly, making reference to the main idea of the partial dynamic window method, the path planning method is proposed, which include the environment modeling based on the dynamic partial grid map and the feasible gait searching algorithm based on the complete or incomplete traversal. Finally, some simulations and experiments are provided to validate the rationality and the validity of the path planning method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8824
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
姜勇; 王洪光; 房立金.Path planning for inchworm-like robot moving in narrow space.见:IEEE .Proceedings of the 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009 ,New York,2009,5977-5984
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