Volume 9 Number 6 (Jun. 2014)
Home > Archive > 2014 > Volume 9 Number 6 (Jun. 2014) >
JSW 2014 Vol.9(6): 1626-1633 ISSN: 1796-217X
doi: 10.4304/jsw.9.6.1626-1633

Path Planning Based on Dimension Reduction and Region Clipping for Aircraft Fuel Tank Inspection Robot

Qingji Gao, Zunchao Zheng, Guochen Niu

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.

Index Terms—continuum robot, path planning, region clipping, dimension reduction, aircraft fuel tank inspection

[PDF]

Cite: Qingji Gao, Zunchao Zheng, 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.

General Information

ISSN: 1796-217X (Online)
Frequency:  Quarterly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, CNKIGoogle Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsw@iap.org
  • Apr 26, 2021 News!

    Vol 14, No 4- Vol 14, No 12 has been indexed by IET-(Inspec)     [Click]

  • Nov 18, 2021 News!

    Papers published in JSW Vol 16, No 1- Vol 16, No 6 have been indexed by DBLP   [Click]

  • Dec 24, 2021 News!

     Vol 15, No 1- Vol 15, No 6 has been indexed by IET-(Inspec)   [Click]

  • Jan 04, 2024 News!

    JSW will adopt Article-by-Article Work Flow

  • Dec 06, 2019 News!

    Vol 14, No 1- Vol 14, No 4 has been indexed by EI (Inspec)   [Click]