SUMMARYPath planning can be difficult and time consuming for inchworm robots especially when operating in complex 3D environments such as steel bridges. Confined areas may prevent a robot from extensively searching the environment by limiting its mobility. An approach for real-time path planning is presented. This approach first uses the concept of line-of-sight (LoS) to find waypoints from the start pose to the end node. It then plans smooth, collision-free motion for a robot to move between waypoints using a 3D-F2algorithm. Extensive simulations and experiments are conducted in 2D and 3D scenarios to verify the approach.
Interactive motion planning for steerable needles in 3D environments with obstacles
