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Modeling and path planning of the City-Climber robot part I: Dynamic modeling

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4 Author(s)
Ronggang Yue ; City Coll., Electr. Eng. Dept., City Univ. of New York, New York, NY, USA ; Jizhong Xiao ; Shaoping Wang ; Joseph, S.L.

This is the first part of a series papers on modeling and path planning of the city-climber robot, a novel wall-climbing robot which can climb walls, move on ceilings and transit between floor and walls. In order to provide the city-climber with 3D path planning capability to carry out tasks such as cleaning, painting, and building inspection in 3D environments, we use mixed integer linear programming (MILP) as a tool to incorporate logical constraints such as obstacle avoidance and waypoint selection with basic dynamic constraints. In this paper, we derive the dynamic model of the city-climber robot in different cases, i.e., on the floor, walls, and ceiling, respectively. Non-dimensional variables are introduced to simplify the models. Simulation results verified the correctness of the model since the trajectories match the expected practical motion of the robot. MILP-based 3D path planning will be presented in part 2 which account for the dynamic constraints and obstacle avoidance.

Published in:

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Date of Conference:

19-23 Dec. 2009