Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Collision-Free Path Planning of Tensegrity Structures
Path planning is a crucial step in shape control of tensegrity structures. A mathematical model for the path planning problem of tensegrities is proposed. Both external collision and internal collision are considered. A procedure combining trajectory tracking with collision checking is established and used as a local planner. An algorithm based on rapidly-exploring random trees (RRT), called RRT-Connect, is adopted as the global planner for the problem. The RRT-Connect algorithm integrated with the local planner is used to search collision-free paths for shape control of tensegrity structures. Typical examples are carried out. The proposed scheme is verified by the results of the examples.
Collision-Free Path Planning of Tensegrity Structures
Path planning is a crucial step in shape control of tensegrity structures. A mathematical model for the path planning problem of tensegrities is proposed. Both external collision and internal collision are considered. A procedure combining trajectory tracking with collision checking is established and used as a local planner. An algorithm based on rapidly-exploring random trees (RRT), called RRT-Connect, is adopted as the global planner for the problem. The RRT-Connect algorithm integrated with the local planner is used to search collision-free paths for shape control of tensegrity structures. Typical examples are carried out. The proposed scheme is verified by the results of the examples.
Collision-Free Path Planning of Tensegrity Structures
Xu, Xian (Autor:in) / Sun, Fengxian (Autor:in) / Luo, Yaozhi (Autor:in) / Xu, Yan (Autor:in)
21.06.2013
Aufsatz (Zeitschrift)
Elektronische Ressource
Unbekannt
Collision-Free Path Planning of Tensegrity Structures
| Online Contents | 2014
Collision-Free Path Planning of Tensegrity Structures
| British Library Online Contents | 2014
TENSEGRITY STRUCTURES AND METHODS OF CONSTRUCTING TENSEGRITY STRUCTURES
| Europäisches Patentamt | 2018
Tensegrity structures and methods of constructing tensegrity structures
| Europäisches Patentamt | 2021
Tensegrity Structures And Methods of Constructing Tensegrity Structures
| Europäisches Patentamt | 2019