An approach for real-time motion planning of an inchworm robot in complex steel bridge environments

Abstract

SUMMARYPath planning can be difficult and time consuming for inchworm robots especially when operating in complex 3D environments such as steel bridges. Confined areas may prevent a robot from extensively searching the environment by limiting its mobility. An approach for real-time path planning is presented. This approach first uses the concept of line-of-sight (LoS) to find waypoints from the start pose to the end node. It then plans smooth, collision-free motion for a robot to move between waypoints using a 3D-F2algorithm. Extensive simulations and experiments are conducted in 2D and 3D scenarios to verify the approach.