Modeling and Path Planning of the City-Climber Robot Part II: 3D Path Planning Using Mixed Integer Linear Programming
This is the second part of a series papers on modeling and path planning of the City-Climber robot. This paper presents a path planning method for the City-Climber robot using mixed integer linear programming (MILP) in 3D building environments that consist of objects with primitive geometrical shapes. In order to use MILP to solve obstacle avoidance problems, we first simplify and decouple the robot dynamic model by introducing a restricting admissible control. The decoupled model and obstacle can be rewritten as a linear program with mixed integer linear constraints that account for the collision avoidance. A key benefit of this approach is that the path optimization can be readily solved using the AMPL and CPLEX optimization software with a Matlab interface. Simulation results show that the framework of MILP is well suited for path planning and obstacle avoidance problems for the wall-climbing robot in 3D environments.
Ronggang Yue Jizhong Xiao Shaoping Wang Samleo L. Joseph
Electrical Engineering Department,the City College,City University of New York (CUNY City College),C Electrical Engineering Department of CUNY City College,Convent Ave & 140th Street,NY 10031,USA Department of Mechanical and Electronic Engineering,School of Automation Science and Electrical Engi
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
2391-2396
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）