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Three-Dimensional Path Planning of a Climbing Robot Using Mixed Integer Linear Programming

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Abstract:

The City-Climber robot is a novel wall-climbing robot developed at The City College of New York that has the capability to move on floors, climb walls, walk on ceilings and transit between them. In this paper, we first develop the dynamic model of the City-Climber robot when it travel on different surfaces, i.e., floors, walls and ceilings, respectively. Then, we present a path planning method for the City-Climber robot using mixed integer linear programming (MILP) in three-dimensional (3-D) building environments that consist of objects with primitive geometrical shapes. MILP provides an optimization framework that can directly incorporate dynamic constraints with logical constraints such as obstacle avoidance and waypoint selection. In order to use MILP to solve the obstacle avoidance problem, we simplify and decouple the robot dynamic model into a linear system by introducing a restricting admissible controller. The decoupled model and obstacle can be rewritten as a linear program with mixed-integer linear constraints that account for the collision avoidance. A key benefit of this approach is that the path optimization can be readily solved using the AMPL and CPLEX optimization software with a MATLAB interface. Simulation results show that the framework of MILP is well suited for path planning and obstacle avoidance problems for the wall-climbing robot in 3-D environments.

Keywords: DYNAMIC MODELING; MIXED INTEGER LINEAR PROGRAMMING; OBSTACLE AVOIDANCE; PATH PLANNING; WALL CLIMBING ROBOT

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918610X534277

Affiliations: 1: Electrical Engineering Department, the City College, City University of New York, Convent Ave & 140th Street, New York, NY 10031, USA; Department of Mechanical and Electronic Engineering, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, P. R. China 2: Electrical Engineering Department, the City College, City University of New York, Convent Ave & 140th Street, New York, NY 10031, USA 3: Department of Mechanical and Electronic Engineering, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, P. R. China

Publication date: November 1, 2010

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