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Three-dimensional truss path planning of cellular robots based on improved sparrow algorithm

Published online by Cambridge University Press:  10 November 2023

Ye Dai Open the ORCID record for Ye Dai [Opens in a new window] ,
Shikun Li ,
Xinda Chen ,
Xinlei Nie ,
Xukun Rui  and
Qihao Zhang
Ye Dai*
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
Shikun Li
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
Xinda Chen
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
Xinlei Nie
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
Xukun Rui
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
Qihao Zhang
Affiliation:
Key Laboratory of Advanced Manufacturing Intelligent Technology of Ministry of Education, Harbin University of Science and Technology, Harbin, 150080, China
*
Corresponding author: Ye Dai; Email: daiye312@163.com
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Abstract

As space missions are needed in the future, the assembly volume of the space truss will become larger and larger, and the advancing path of the on-orbit cellular robot to the mission target will become more and more complicated. If the shortest moving path cannot be found in the truss environment, the climbing time of the robot on the truss will be greatly increased. To improve the speed of the cellular robot moving to the target point on the large space truss, this paper designs a cellular robot structure and configuration suitable for climbing on the truss and uses the improved sparrow algorithm to solve the problem of robot motion path planning. By establishing a mathematical model of the space truss, the improved sparrow algorithm is used to find the shortest path between the starting point and the end point in the truss environment. Finally, the data of this algorithm are compared with the data of other algorithms. The data results show that the improved sparrow algorithm is very effective in solving the optimal path of the space truss. The improved sparrow algorithm keeps the same optimal path compared with the standard sparrow algorithm, and the overall reaction time is increased by 51.60%, and the number of effective iterations is increased by about 13.87%.

Keywords

modular robotsmobile robotspath planningspace roboticsdesign
Type
Research Article
Information
Robotica , Volume 42 , Issue 2 , February 2024 , pp. 347 - 366
Copyright
© The Author(s), 2023. Published by Cambridge University Press

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