doi: 10.4304/jsw.9.6.1626-1633
Path Planning Based on Dimension Reduction and Region Clipping for Aircraft Fuel Tank Inspection Robot
- Robotics Institute/Civil Aviation University of China, Tianjin, China
Abstract
A continuum robot for inspecting aircraft fuel tank is designed to improve the performance of manual maintenance. Path planning for this kind of robot is challenging due to their complex kinematics models. In an environment without obstacles, a strategy of path planning is proposed in this paper. Dimension reduction method is presented and an imaginary straight line between the starting point and the target is made up as a reference line to simplify the problem. A novel search method based on region clipping deduced from continuity analysis of position function is proposed to decrease computing time complexity. Minimum distance summation (MDS) is calculated to decide the optimal path relatively. Simulation results and analysis demonstrate excellent performance of region clipping search method and feasibility of path planning.
Keywords
- continuum robot
- path planning
- region c
How to Cite
Qingji Gao, Zunchao Zheng, and Guochen Niu, "Path Planning Based on Dimension Reduction and Region Clipping for Aircraft Fuel Tank Inspection Robot," Journal of Software, vol. 9, no. 6, pp. 1626-1633, 2014. https://doi.org/ 10.4304/jsw.9.6.1626-1633
Copyright & License
Copyright © 2014 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).