NDLI: Energy based path planning for a novel cabled robotic system

Content Provider	IEEE Xplore Digital Library
Author	Borgstrom, P.H. Singh, A. Jordan, B.L. Sukhatme, G.S. Batalin, M.A. Kaiser, W.J.
Copyright Year	2008
Description	Author affiliation: Dept. of Electr. Eng., Univ. of California, Los Angeles, CA (Borgstrom, P.H.; Singh, A.)
Abstract	Cabled robotic systems have been used for a diverse set of applications such as environmental sensing, search and rescue, sports and entertainment and air vehicle simulators. In this paper, we introduce a new cabled robot- Networked Info Mechanical System for Planar actuation (NIMS-PL), with energy profiling capabilities. Accurate energy measurements supported by NIMS-PL enable path planning that optimizes the robotpsilas path subject to an upper bound on energy consumption. We performed extensive empirical validation of the optimized path planning approach in simulation using an environmental sensing application as an example. We also validated the simulation results using NIMS-PL, demonstrating significant improvements in the sensing task when accounting with accurate energy measurements as opposed to Euclidean distance, which is typically used for modeling energy spent in path traversal.
Starting Page	1745
Ending Page	1751
File Size	485811
Page Count	7
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651019
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Sensors Robots Path planning Actuators Distance measurement Brushless motors
Content Type	Text
Resource Type	Article

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