In order to realize the path planning of continuum robot for inspecting
defects in the aircraft fuel tank compartment, an approach based on
Q-learning and Three-segment Method was proposed, and the posture of the
robot meeting the inherent and spatial structure constraint requirements was
planned. Firstly, the simulation model of the aircraft fuel tank was
established. Moreover, the workspace was rasterized to decrease the
computing complexity. Secondly, the Q-learning algorithm was applied and the
path from the initial point to the target was generated. In terms of target
guided angle and three-segment method, the joint variables corresponding to
each transition point on the path could be obtained. Finally, the robot
reached the target by progressively updating the joint variables. Simulation
experiments were implemented, and the results verified the effectiveness and
feasibility of the algorithm.
Attitude control based on fuzzy logic for continuum aircraft fuel tank inspection robot
