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Volume 39 Issue 11
Nov.  2013
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Journal of Beijing University of Aeronautics and Astronautics  > 2013  >  39(11): 1486-1490.
Gao Qingji, Wang Lei, Niu Guochen, et al. Path planning for continuum robot based on target guided angle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1486-1490. (in Chinese)
Citation: Gao Qingji, Wang Lei, Niu Guochen, et al. Path planning for continuum robot based on target guided angle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(11): 1486-1490. (in Chinese)
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Path planning for continuum robot based on target guided angle

  • Robotics Institute, Civil Aviation University of China, Tianjin 300300, China

  • Received Date: 24 Dec 2012
  • Publish Date: 30 Nov 2013
    Abstract
  • To inspect the aircraft fuel tank which has strong space constraints, path planning for continuum robot applied to this kind of convex space was studied. An algorithm based on target guided angle was presented. Strategies of dimension reduction and regional division were proposed to decrease the high time complexity of blind search. The relationship between the target and the searching range of joint variables was established by introducing the target guided angle. Then the search process was optimized and evaluation function was proposed to evaluate results of search algorithm. Feasibility and effectiveness of the algorithm are confirmed through simulative results.

     

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