Path planning method with constant bending angle constraint for soft growing robot using heat welding mechanism
Path planning method with constant bending angle constraint for soft growing robot using heat welding mechanism
复制标题
热焊接机构软体生长机器人恒定弯曲角度约束路径规划方法
DOI：
10.1109/lra.2023.3260705
复制
发表时间：
2023
影响因子：
5.2
通讯作者：
Hiroyuki Ishii
中科院分区：
文献类型：
--
作者：
Yuki Satake;Hiroyuki Ishii
柔性生长机器人是一种新型的软移动机器人，近年来引起了人们的极大兴趣。有许多软生长机器人，其中一些具有不可逆的生长和弯曲运动机构。对于这样的机器人，提供关于弯曲定时的信息的路径规划方法提高了操作效率。虽然已经开发了各种路径规划方法，但它们不能应用于使用热焊机制的不断增长的机器人，因为它有一个约束，即所有弯曲角度都是常量。本文提出了一种具有恒定弯曲角约束的路径规划方法。该算法是在快速搜索随机树星形(RRT*)算法的基础上提出的。该方法结合了一种算法，可以从获得的路径中减少不必要的节点，保持弯曲角度恒定，并提高路径的最优性。我们证实了该方法生成的路径具有恒定的弯曲角。此外，我们还试验了在田野中沿着小路移动机器人，并设置了一些障碍物。结果表明，该方法能够使机器人到达目标位置，避开障碍物。该方法提高了软生长机器人的运行效率。
Soft growing robots, a new soft mobile robot, have recently attracted considerable interest. There are many soft growing robots, some of which have irreversible growing and bending motion mechanisms. For such robots, path planning methods that provide information on bending timing improve operation efficiency. Although various path planning methods have already been developed, they cannot be applied to our growing robot that uses a heat welding mechanism because it has a constraint that all bending angles are the constant value. This letter proposes a novel path planning method with constant bending angle constraint. The proposed algorithm was developed based on the rapidly-exploring random tree star (RRT*) algorithm. The method incorporates an algorithm for reducing unnecessary nodes from obtained paths keeping bending angles constant and improving path optimality. We confirmed that the proposed method generates paths whose bending angles are constant. In addition, we experimented with moving our robot along the path in the field with some obstacles. The result showed that the proposed method enabled the robot to reach to target place, avoiding obstacles. The proposed method improves the operating efficiency of our soft growing robot.