Linear-time Path and Motion Planning Algorithm for a Tree Climbing Robot – TreeBot
文献类型：会议论文
| 作者 | Tin Lun Lam; Guoqing Xu; Huihuan Qian; Yangsheng Xu |
| 出版日期 | 2010 |
| 会议名称 | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
| 会议地点 | Taipei, Taiwan |
| 英文摘要 | 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. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2799]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2010 |
| 推荐引用方式 GB/T 7714 | Tin Lun Lam,Guoqing Xu,Huihuan Qian,et al. Linear-time Path and Motion Planning Algorithm for a Tree Climbing Robot – TreeBot[C]. 见:23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010. Taipei, Taiwan. |
入库方式： OAI收割
来源：深圳先进技术研究院
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