Collision-Free Path Planning of Tensegrity Structures
Publication: Journal of Structural Engineering
Volume 140, Issue 4
Abstract
Path planning is a crucial step in shape control of tensegrity structures. A mathematical model for the path planning problem of tensegrities is proposed. Both external collision and internal collision are considered. A procedure combining trajectory tracking with collision checking is established and used as a local planner. An algorithm based on rapidly-exploring random trees (RRT), called RRT-Connect, is adopted as the global planner for the problem. The RRT-Connect algorithm integrated with the local planner is used to search collision-free paths for shape control of tensegrity structures. Typical examples are carried out. The proposed scheme is verified by the results of the examples.
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Acknowledgments
This work was supported by the National Natural Science Foundation of China (Grant Nos. 51008271 and 51025828) and the Zhejiang Provincial Natural Science Foundation (Grant No. Y13E080003).
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© 2013 American Society of Civil Engineers.
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Received: Jun 1, 2012
Accepted: Jun 19, 2013
Published online: Jun 21, 2013
Published in print: Apr 1, 2014
Discussion open until: Apr 26, 2014
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