Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot

Houxiang Zhang; Wei Wang; Jianwei Zhang; Guanghua Zong

doi:10.1109/RAMECH.2006.252617

Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot

Houxiang Zhang^*
, Wei Wang
, Jianwei Zhang
, Guanghua Zong

^*此作品的通讯作者

机械工程及自动化学院

University of Hamburg
Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

4 引用（Scopus）

摘要

Aimed at cleaning the curved glass wall of Shanghai Science and Technology Museum, a fully pneumatic climbing robot Is presented to meet the requirements of cleaning efficiency and simple operation. After an overview of the robotic system, this paper emphasizes the software hierarchy realization and path planning evaluation. The hierarchy of the control function is studied in detail, which consists of path planning and task planning. Then a mathematic model is proposed to describe the features of the work target. Considering the movement security, cleaning efficiency and the percentage of cleaning coverage, a new approach to path planning for wall-cleaning robots is presented. In the end, the successful on-site test confirms the principles described above and the robot's ability.

源语言	英语
主期刊名	2006 IEEE Conference on Robotics, Automation and Mechatronics
DOI	https://doi.org/10.1109/RAMECH.2006.252617
出版状态	已出版 - 2006
活动	2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, 泰国期限: 7 6月 2006 → 9 6月 2006

出版系列

姓名	2006 IEEE Conference on Robotics, Automation and Mechatronics

会议

会议	2006 IEEE Conference on Robotics, Automation and Mechatronics
国家/地区	泰国
市	Bangkok
时期	7/06/06 → 9/06/06

访问文件

10.1109/RAMECH.2006.252617

其它文件与链接

链接到 Scopus 的出版物

引用此

@inproceedings{a14a99eeec27466d8bbe6f0baf24d7f1,

title = "Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot",

abstract = "Aimed at cleaning the curved glass wall of Shanghai Science and Technology Museum, a fully pneumatic climbing robot Is presented to meet the requirements of cleaning efficiency and simple operation. After an overview of the robotic system, this paper emphasizes the software hierarchy realization and path planning evaluation. The hierarchy of the control function is studied in detail, which consists of path planning and task planning. Then a mathematic model is proposed to describe the features of the work target. Considering the movement security, cleaning efficiency and the percentage of cleaning coverage, a new approach to path planning for wall-cleaning robots is presented. In the end, the successful on-site test confirms the principles described above and the robot's ability.",

keywords = "Climbing robot, Path planning evaluation, Software hierarchy",

author = "Houxiang Zhang and Wei Wang and Jianwei Zhang and Guanghua Zong",

year = "2006",

doi = "10.1109/RAMECH.2006.252617",

language = "英语",

isbn = "1424400244",

series = "2006 IEEE Conference on Robotics, Automation and Mechatronics",

booktitle = "2006 IEEE Conference on Robotics, Automation and Mechatronics",

note = "2006 IEEE Conference on Robotics, Automation and Mechatronics ; Conference date: 07-06-2006 Through 09-06-2006",

}

Zhang, H, Wang, W, Zhang, J & Zong, G 2006, Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot. 在 2006 IEEE Conference on Robotics, Automation and Mechatronics., 4018732, 2006 IEEE Conference on Robotics, Automation and Mechatronics, 2006 IEEE Conference on Robotics, Automation and Mechatronics, Bangkok, 泰国, 7/06/06. https://doi.org/10.1109/RAMECH.2006.252617

TY - GEN

T1 - Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot

AU - Zhang, Houxiang

AU - Wang, Wei

AU - Zhang, Jianwei

AU - Zong, Guanghua

PY - 2006

Y1 - 2006

N2 - Aimed at cleaning the curved glass wall of Shanghai Science and Technology Museum, a fully pneumatic climbing robot Is presented to meet the requirements of cleaning efficiency and simple operation. After an overview of the robotic system, this paper emphasizes the software hierarchy realization and path planning evaluation. The hierarchy of the control function is studied in detail, which consists of path planning and task planning. Then a mathematic model is proposed to describe the features of the work target. Considering the movement security, cleaning efficiency and the percentage of cleaning coverage, a new approach to path planning for wall-cleaning robots is presented. In the end, the successful on-site test confirms the principles described above and the robot's ability.

AB - Aimed at cleaning the curved glass wall of Shanghai Science and Technology Museum, a fully pneumatic climbing robot Is presented to meet the requirements of cleaning efficiency and simple operation. After an overview of the robotic system, this paper emphasizes the software hierarchy realization and path planning evaluation. The hierarchy of the control function is studied in detail, which consists of path planning and task planning. Then a mathematic model is proposed to describe the features of the work target. Considering the movement security, cleaning efficiency and the percentage of cleaning coverage, a new approach to path planning for wall-cleaning robots is presented. In the end, the successful on-site test confirms the principles described above and the robot's ability.

KW - Climbing robot

KW - Path planning evaluation

KW - Software hierarchy

UR - https://www.scopus.com/pages/publications/34547312845

U2 - 10.1109/RAMECH.2006.252617

DO - 10.1109/RAMECH.2006.252617

M3 - 会议稿件

AN - SCOPUS:34547312845

SN - 1424400244

SN - 9781424400249

T3 - 2006 IEEE Conference on Robotics, Automation and Mechatronics

BT - 2006 IEEE Conference on Robotics, Automation and Mechatronics

T2 - 2006 IEEE Conference on Robotics, Automation and Mechatronics

Y2 - 7 June 2006 through 9 June 2006

ER -

Control hierarchy realization and cleaning trajectory evaluation of a wall cleaning robot

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