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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Thati, Santhosh Kumar Raj, Aditi Thakur, Atul |
| Copyright Year | 2018 |
| Abstract | Exploration of obstacle-ridden underwater regions for various marine applications like automated inspection, maintenance and repair of sub-sea structures and search and rescue during disaster relief is often not possible to be carried out by the human divers. Owing to their slender and hyper-redundant structure, Anguilliform-inspired robots are capable of negotiating narrow regions. However, the challenges involved in the motion planning of Anguilliform-inspired robots include the dynamic constraints imposed by the hyper-redundant joints, the interaction between fluid environment and the robot, and the presence of obstacles. This paper reports a model-predictive motion planning approach for an Anguilliform-inspired robot, wherein dynamically feasible motion primitives are generated using a dynamics simulator. The motion primitives are then used for generating a roadmap over which A* algorithm is used for searching an optimal, obstacle-free, and dynamically feasible path to the goal. Use of Euclidean heuristic in the A* based path planning for hyper-redundant underwater robots often results in the expansion of a large number of nodes and thereby slow-down the computations. Hence, we present a simulation-based admissible heuristic function that led to a speed-up of path search computation time by a factor varying from 3.1 to 5.5 over the Euclidean heuristic for our simulation-based experiments. The factor is dependent on the complexity of the scene. We also use dynamics simulation for estimating action-specific convex collision envelops for precise and efficient collision detection during the expansion of nodes in A*. |
| Sponsorship | Design Engineering Division Computers and Information in Engineering Division |
| File Format | |
| ISBN | 9780791851814 |
| DOI | 10.1115/DETC2018-86120 |
| Volume Number | Volume 5B: 42nd Mechanisms and Robotics Conference |
| Conference Proceedings | ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2018-08-26 |
| Publisher Place | Quebec City, Quebec, Canada |
| Access Restriction | Subscribed |
| Subject Keyword | Collisions (physics) Fluids Algorithms Seas Simulation Computation Dynamics (mechanics) Emergency management Inspection Path planning Maintenance Robots |
| Content Type | Text |
| Resource Type | Article |
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