Linear-time path and motion planning algorithm for a tree climbing robot - TreeBot
Refereed conference paper presented and published in conference proceedings

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摘要This paper proposes a path and motion planning algorithm for a tree climbing problem. This problem is challenging as the shape of tree is complex and irregular. To our best knowledge, this is the first paper dealing with the path planning problem on natural tree environment. Different from conventional motion planning approach that requires constructing a complex configuration space, this paper divides the planning problem into two parts, i.e., path and motion planning problem so as to reduce the dimension of the problem. An intuitive method to represent a climbing space is proposed that highly simplifies the path planning problem. With the use of a dynamic programming algorithm, an optimal path to reach a target position can be acquired in linear time. In addition, an efficient motion planning algorithm for a tree climbing robot named TreeBot is developed to make TreeBot follow the planned path. ©2010 IEEE.
著者Lam T.L., Xu G., Qian H., Xu Y.
會議名稱23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
會議開始日18.10.2010
會議完結日22.10.2010
會議地點Taipei
會議國家/地區台灣
出版年份2010
月份12
日期1
頁次4988 - 4994
國際標準書號9781424466757
語言英式英語

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