机器人
转弯半径
路径(计算)
弹道
旋转(数学)
工程类
运动规划
移动机器人
蛇臂机器人
模拟
计算机科学
机器人运动学
人工智能
机械工程
物理
程序设计语言
天文
作者
Tomoyasu Oya,Tokuji Okada
标识
DOI:10.1163/1568553054255646
摘要
Abstract This paper presents the development of a steerable, wheel-type, in-pipe robot and its path planning. First, we show the construction of the robot and demonstrate its locomotion inside a pipe. The robot is composed of two wheel frames and an extendable arm which links the centers of the two wheel frames. The arm presses the frames against the interior wall of a pipe to support the robot. The wheels of the frames are steered independently so that the robot can turn within a small radius of rotation. Experimental results of the locomotion show that the steering control is effective for autonomous navigation to avoid obstacles and to enter the joint spaces of L- and T-shaped pipes. Generally, autonomous navigation is difficult for wheel-type robots because the steering angles required to travel along a desired path are not easily determined. In our previous work, the relationship between the steering angles and locomotion trajectories in a pipe has already been analyzed. Using this analysis, we propose the path planning in pipes. Keywords: WHEEL-TYPE ROBOTIN-PIPE ROBOTSTEERING CONTROLPATH PLANNINGLOCOMOTION TRAJECTORY
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