Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection
文献类型：期刊论文
| 作者 | Zhishuo, Li2; Yunong, Tian1 ; Guodong, Yang1; Yanfeng, Zhang2; En, Li1; Zize, Liang2; Min, Tan2
|
| 刊名 | IEEE Robotics and Automation Letters
 |
| 出版日期 | 2024 |
| 卷号 | 9期号:4页码:3443-3450 |
| 关键词 | Aerial systems Applications constrained motion planning motion and path planning |
| ISSN号 | 2377-3766 |
| DOI | 10.1109/LRA.2024.3363535 |
| 文献子类 | Research article |
| 英文摘要 | This letter presents the first trajectory planning method for hybrid robot to perform powerline inspection involving obstacle navigation and landing. We develop a geometric model that incorporates constraints for landing the hybrid robot on a powerline, obstacle avoidance, and objectives that maximize the visibility of the powerline during flight. The trajectory generation is achieved via solving a multiple shooting nonlinear programming problem with respect to system dynamics and geometric constraints. The formulation of the problem accommodates both powerline-to-powerline and air-to-powerline trajectory planning scenarios. It runs onboard and is capable of generating trajectories within 50 ms, regardless of whether the hybrid robot’s initial state is positioned on the powerline or hovering above it. Through simulation experiments, we illustrate the impact of our proposed geometric model on trajectory planning. Furthermore, real-world experimental results validate the efficacy of the proposed planning method. Compared with the existing feedback-control-based work, the landing and obstacle navigation time are significantly reduced. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57070]  |
| 专题 | 中科院工业视觉智能装备工程实验室 |
| 通讯作者 | Guodong, Yang |
| 作者单位 | 1.the Engineering Lab oratory of Industrial Vision and Intelligent Equipment Technology, Chinese Academy of Sciences 2.the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automa tion, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Zhishuo, Li,Yunong, Tian,Guodong, Yang,et al. Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection[J]. IEEE Robotics and Automation Letters,2024,9(4):3443-3450. |
| APA | Zhishuo, Li.,Yunong, Tian.,Guodong, Yang.,Yanfeng, Zhang.,En, Li.,...&Min, Tan.(2024).Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection.IEEE Robotics and Automation Letters,9(4),3443-3450. |
| MLA | Zhishuo, Li,et al."Model-Based Trajectory Planning of a Hybrid Robot for Powerline Inspection".IEEE Robotics and Automation Letters 9.4(2024):3443-3450. |
入库方式： OAI收割
来源：自动化研究所
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