| contributor author | Xian Xu | |
| contributor author | Fengxian Sun | |
| contributor author | Yaozhi Luo | |
| contributor author | Yan Xu | |
| date accessioned | 2017-05-08T22:01:08Z | |
| date available | 2017-05-08T22:01:08Z | |
| date copyright | April 2014 | |
| date issued | 2014 | |
| identifier other | %28asce%29su%2E1943-5428%2E0000009.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/68840 | |
| description abstract | Path planning is a crucial step in shape control of tensegrity structures. A mathematical model for the path planning problem of tensegrities is proposed. Both external collision and internal collision are considered. A procedure combining trajectory tracking with collision checking is established and used as a local planner. An algorithm based on rapidly-exploring random trees (RRT), called RRT-Connect, is adopted as the global planner for the problem. The RRT-Connect algorithm integrated with the local planner is used to search collision-free paths for shape control of tensegrity structures. Typical examples are carried out. The proposed scheme is verified by the results of the examples. | |
| publisher | American Society of Civil Engineers | |
| title | Collision-Free Path Planning of Tensegrity Structures | |
| type | Journal Paper | |
| journal volume | 140 | |
| journal issue | 4 | |
| journal title | Journal of Structural Engineering | |
| identifier doi | 10.1061/(ASCE)ST.1943-541X.0000900 | |
| tree | Journal of Structural Engineering:;2014:;Volume ( 140 ):;issue: 004 | |
| contenttype | Fulltext | |
