Modeling and path planning of the city-climber robot part I: dynamic modeling

Authors:
Ronggang Yue;Jizhong Xiao;Shaoping Wang;Samleo L. Joseph
Affiliations:
Electrical Engineering Department, The City College, City University of New York, New York, NY;Electrical Engineering Department, The CUNY, City College, NY;Department of Mechanical and Electronic Engineering, School of Automation Science and Electrical Engineering, Beihang University, Beijing, China;Electrical Engineering Department, The CUNY, City College, NY
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

This is the first part of a series papers on modeling and path planning of the City-Climber robot, a novel wall-climbing robot which can climb walls, move on ceilings and transit between floor and walls. In order to provide the City-Climber with 3D path planning capability to carry out tasks such as cleaning, painting, and building inspection in 3D environments, we use mixed integer linear programming (MILP) as a tool to incorporate logical constraints such as obstacle avoidance and waypoint selection with basic dynamic constraints. In this paper, we derive the dynamic model of the City-Climber robot in different cases, i.e., on the floor, walls, and ceiling, respectively. Non-dimensional variables are introduced to simplify the models. Simulation results verified the correctness of the model since the trajectories match the expected practical motion of the robot. MILP-based 3D path planning will be presented in part 2 which account for the dynamic constraints and obstacle avoidance.