Complete coverage path planning for flexible parent-child unit robots

Dare Olaonipekun; Joshua Vaughan

doi:10.1115/DSCC2015-9822

Complete coverage path planning for flexible parent-child unit robots

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.

Original language	English
Title of host publication	Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems
Publisher	American Society of Mechanical Engineers
ISBN (Electronic)	9780791857267
DOIs	https://doi.org/10.1115/DSCC2015-9822
State	Published - 2015
Externally published	Yes
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: Oct 28 2015 → Oct 30 2015

Publication series

Name	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume	3

Conference

Conference	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/Territory	United States
City	Columbus
Period	10/28/15 → 10/30/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1115/DSCC2015-9822

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Olaonipekun, D., & Vaughan, J. (2015). Complete coverage path planning for flexible parent-child unit robots. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9822

Olaonipekun, Dare ; Vaughan, Joshua. / Complete coverage path planning for flexible parent-child unit robots. Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).

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title = "Complete coverage path planning for flexible parent-child unit robots",

abstract = "This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.",

author = "Dare Olaonipekun and Joshua Vaughan",

note = "Publisher Copyright: {\textcopyright} 2015 by ASME.; ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

year = "2015",

doi = "10.1115/DSCC2015-9822",

language = "English",

series = "ASME 2015 Dynamic Systems and Control Conference, DSCC 2015",

publisher = "American Society of Mechanical Engineers",

booktitle = "Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems",

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Olaonipekun, D & Vaughan, J 2015, Complete coverage path planning for flexible parent-child unit robots. in Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 3, American Society of Mechanical Engineers, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9822

Complete coverage path planning for flexible parent-child unit robots. / Olaonipekun, Dare; Vaughan, Joshua.
Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers, 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Olaonipekun, Dare

AU - Vaughan, Joshua

PY - 2015

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N2 - This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.

AB - This paper presents a complete coverage algorithm for a flexible parent child unit robot by combining input shaping with the wavefront algorithm. Input shaping was used to control the command-induced vibration in the system, while the wavefront algorithm planned the complete coverage path for a given workspace. A model of the flexible robot was developed by treating the child units as inputs, replacing the link wire by springs and dampers, and treating the parent unit as a point mass. Results showed significant improvement in the coverage process for the shaped coverage in comparison to the unshaped coverage.

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DO - 10.1115/DSCC2015-9822

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AN - SCOPUS:84973438872

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BT - Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems

PB - American Society of Mechanical Engineers

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Olaonipekun D, Vaughan J. Complete coverage path planning for flexible parent-child unit robots. In Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. American Society of Mechanical Engineers. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). doi: 10.1115/DSCC2015-9822

Complete coverage path planning for flexible parent-child unit robots

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UN SDGs

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