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- W2022992168 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." @default.
- W2022992168 created "2016-06-24" @default.
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- W2022992168 date "2014-04-01" @default.
- W2022992168 modified "2023-10-14" @default.
- W2022992168 title "Collision-Free Path Planning of Tensegrity Structures" @default.
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- W2022992168 doi "https://doi.org/10.1061/(asce)st.1943-541x.0000900" @default.
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