Projects per year
Abstract
In recent years, the inspection of extreme environments using mobile robots has gained traction, as robotsare able to mitigate the risk placed on humans and at timesachieve what humans are unable to. In some scenarios, therobot is required to operate in cluttered environments withhighly restricted access through 150 mm diameter ports. TheMIRRAX robot has been designed to meet these challenges withthe capability of reconfiguring itself to both access environmentsand navigate through tightly spaced obstacles. The joints usedfor reconfiguration of the robot introduce additional challengesfor path planning due to the significant changes that can occurbetween adjacent poses. This paper presents a global path planner for MIRRAX. A Voronoi diagram is first used to generatea sparse graph to represent the topology of the environment,which allows for fast, coarse path planning. The coarse path isthen refined via a heuristic pose fitting routine to ensure thatthe path is both collision-free and reduce unnecessary jointangle changes. The planner has been evaluated in simulation,demonstrating the feasibility of generating collision-free pathsthrough narrow pathways for a reconfigurable robot.
Original language | English |
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Number of pages | 6 |
Publication status | Accepted/In press - 25 Mar 2021 |
Event | IEEE ICRA 2021 - Xi'an, China Duration: 31 May 2021 → 4 Jun 2021 http://www.icra2021.org/index.aspx |
Conference
Conference | IEEE ICRA 2021 |
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Country/Territory | China |
City | Xi'an |
Period | 31/05/21 → 4/06/21 |
Internet address |
Fingerprint
Dive into the research topics of 'Path Planning for a Reconfigurable Robot in Extreme Environments'. Together they form a unique fingerprint.Projects
- 1 Finished
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Robotics and Artificial Intelligence for Nuclear (RAIN)
Lennox, B. (PI), Arvin, F. (CoI), Brown, G. (CoI), Carrasco Gomez, J. (CoI), Da Via, C. (CoI), Furber, S. (CoI), Luján, M. (CoI), Watson, S. (CoI), Watts, S. (CoI) & Weightman, A. (CoI)
2/10/17 → 31/03/22
Project: Research
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MIRRAX: A Reconfigurable Robot for Limited Access Environments
Cheah, W., Groves, K., Martin, H., Peel, H., Watson, S., Marjanovic, O. & Lennox, B., 30 Sept 2022, In: IEEE Transactions on Robotics. p. 1 - 12Research output: Contribution to journal › Article › peer-review
Open AccessFile299 Downloads (Pure) -
Set-point Control for a Ground-based Reconfigurable Robot
Cheah, W., Adorno, B. V., Watson, S. & Lennox, B., 2022, p. 2616-2621. 6 p.Research output: Contribution to conference › Paper › peer-review
Open AccessFile332 Downloads (Pure) -
Miniature Inspection Robot for Restricted Access eXploration (MIRRAX)
Martin, H., Watson, S., Lennox, B. & Poteau, X., Mar 2018, WMSYM 2018.Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review