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A platform for research: civil engineering, architecture and urbanism
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 (author) / Sun, Fengxian (author) / Luo, Yaozhi (author) / Xu, Yan (author)
2013-06-21
Article (Journal)
Electronic Resource
Unknown
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