Name
Abstract | ||
|---|---|---|
Planning the energy-efficient and collision-free paths for reconfigurable robots in complex environments is more challenging than conventional fixed-shaped robots due to their flexible degrees of freedom while navigating through tight spaces. This article presents a novel algorithm, energy-efficient batch informed trees* (BIT*) for reconfigurable robots, which incorporates BIT*, an informed, anytime sampling-based planner, with the energy-based objectives that consider the energy cost for robot’s each reconfigurable action. Moreover, it proposes to improve the direct sampling technique of informed RRT* by defining an
<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$L^2$</tex-math></inline-formula>
<italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">greedy informed set</i>
that shrinks as a function of the state with the maximum admissible estimated cost instead of shrinking as a function of the current solution, thereby improving the convergence rate of the algorithm. Experiments were conducted on a tetromino hinged-based reconfigurable robot as a case study to validate our proposed path planning technique. The outcome of our trials shows that the proposed approach produces energy-efficient solution paths, and outperforms existing techniques on simulated and real-world experiments. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/TRO.2022.3147408 | IEEE Transactions on Robotics |
Keywords | DocType | Volume |
Batch informed trees* (BIT*),energy efficient,informed sampling,optimal path planning,reconfigurable robotic | Journal | 38 |
Issue | ISSN | Citations |
4 | 1552-3098 | 0 |
PageRank | References | Authors |
0.34 | 19 | 8 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Phone Thiha Kyaw | 1 | 0 | 0.34 |
| Anh Vu Le | 2 | 8 | 3.63 |
| Prabakaran Veerajagadheswar | 3 | 0 | 0.34 |
| Mohan Rajesh Elara | 4 | 0 | 0.34 |
| Theint Theint Thu | 5 | 0 | 1.01 |
| Nguyen Huu Khanh Nhan | 6 | 2 | 1.71 |
| Phan Van Duc | 7 | 0 | 1.01 |
| Minh Bui Vu | 8 | 0 | 0.34 |