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Path planning for reconfigurable hTetro robot combining heat conduction-based and discrete optimization

Do, Huy ; Anh Vu, Le ; Weeger, Oliver ; Mohan, Rajesh Elara ; Guo, Yujie ; Nguyen, Tan Nhat ; Bui Vu, Minh ; Van Duc, Phan (2021)
Path planning for reconfigurable hTetro robot combining heat conduction-based and discrete optimization.
In: IEEE Access, 9
doi: 10.26083/tuprints-00019882
Article, Secondary publication, Publisher's Version

Copyright Information: CC BY 4.0 International - Creative Commons, Attribution.

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Item Type: Article
Type of entry: Secondary publication
Title: Path planning for reconfigurable hTetro robot combining heat conduction-based and discrete optimization
Language: English
Date: 2021
Place of Publication: Darmstadt
Publisher: IEEE
Journal or Publication Title: IEEE Access
Volume of the journal: 9
DOI: 10.26083/tuprints-00019882
Corresponding Links:
Origin: Secondary publication service

Self-reconfigurable robots present advanced solutions for various automation applications in domains, e.g., planetary exploration, rescue missions, cleaning, and maintenance. These robots have the ability to change their morphology according to given requirements or adapt to new circumstances, which, for example, can overcome constraints while navigating within a working environment. However, the autonomous navigation of self-reconfigurable robots is more complex than that of robots with fixed shape because of the intrinsic complexity of robot motions, especially in complicated obstacle environments. To address this challenge, we present a novel path planning method for reconfigurable robots in this study. The technique is inspired by the similarity between a robot motion path and a heat conduction path at the steady-state. In the heat transfer analysis domain, feasible moving locations are modeled as materials with high conductivity, while obstacles are considered thermal insulators, and the initial and destination positions are assigned as heat sink and heat source, respectively. The temperature profile and gradient calculated by finite element analysis are used to indicate the possible moving directions from the heat sink to the heat source. Based on the temperature gradient ascent, a step-wise conductivity reaching algorithm is developed to optimize robot paths using customized multi-objective functions that take the costs of morphology changes, path smoothness, and safety into account. The proposed path planning method is successfully applied to the hinged-tetro self-reconfigurable robot and demonstrated on several virtual environments and a real-world testbed environment.

Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-198827
Additional Information:

Self-reconfigurable robot, tiling robotics, multi-objective path planning, heat conduction, mobile robot

Classification DDC: 000 Generalities, computers, information > 004 Computer science
600 Technology, medicine, applied sciences > 600 Technology
600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
Divisions: 16 Department of Mechanical Engineering > Cyber-Physical Simulation (CPS)
Date Deposited: 15 Dec 2021 10:29
Last Modified: 16 Aug 2023 05:53
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/19882
PPN: 510631045
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