Modeling and Path Planning of the City-Climber Robot Part I: Dynamic Modeling
This is the first part of a series papers on modeling and path planning of the City-Climber robot, a novel wall-climbing robot which can climb walls, move on ceilings and transit between floor and walls. In order to provide the City-Climber with 3D path planning capability to carry out tasks such as cleaning, painting, and building inspection in 3D environments, we use mixed integer linear programming (MILP) as a tool to incorporate logical constraints such as obstacle avoidance and waypoint selection with basic dynamic constraints. In this paper, we derive the dynamic model of the City-Climber robot in different cases, I.e., on the floor, walls, and ceiling, respectively. Non-dimensional variables are introduced to simplify the models. Simulation results verified the correctness of the model since the trajectories match the expected practical motion of the robot. MILP-based 3D path planning will be presented in part 2 which account for the dynamic constraints and obstacle avoidance.
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,the 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
2385-2390
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）