Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone
Abstract
:1. Introduction
2. State of the Art
2.1. Protective Cage Design for Drones
2.2. Mechanical Design of Tensegrity Structures
2.3. Deformation-Enabled Path Planning
2.4. Motion Planning for Rigid Drones
2.5. Convex and Mixed Integer Optimization in Motion Planning
3. Problem Statement
3.1. Static Equilibrium of Tensegrity Structures
3.2. Obstacle-Free Space Description
3.3. Path Planning as a Mixed-Integer Convex Program
4. Configurations Dataset
4.1. Configuration Vector
4.2. Dataset Generation
Algorithm 1 Configurations dataset generation algorithm |
Input: , , Output: Dataset whiledo end while |
5. Mixed-Integer Convex Path and Morphing Planner
6. Numerical Studies, Results
6.1. Planning Drone Path and Deformation through a Series of Rooms
6.2. Study of the Computational Cost of the Algorithm
7. Experimental Study
7.1. Pure Tensegrity Drone
7.2. Tensegrity Drone with Strut Contact
8. Discussion
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Acknowledgments
Conflicts of Interest
Abbreviations
MICP | Mixed-Integer Convex Programming |
IRIS | Iterative Regional Inflation by Semi-definite programming |
SDPs | Semidefinite Programs |
MIQP | Mixed-Integer Quadratic Program |
UAV | Unmanned Aerial Vehicle |
HVAC | Heating, Ventilation, and Air-Conditioning |
RRT | Rapidly Exploring Random Tree |
QCQP | Quadratically Constrained Quadratic Programming |
MIP | Mixed-Integer Programming |
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Parameters | Number of Steps, K | |
---|---|---|
Number of binary variables | 65 | 351 |
Number of linear inequalities | 14,400 | 77,760 |
Solution time | 2.8 s | 733 s |
Parameters | Value |
---|---|
Strut length | 0.5 m |
Strut mass | 0.01 kg |
Cable rest length | 0.305 m |
Cable stiffness | 0.58 N/mm |
Total mass | 0.836 kg |
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Savin, S.; Al Badr, A.; Devitt, D.; Fedorenko, R.; Klimchik, A. Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone. Appl. Sci. 2022, 12, 5588. https://doi.org/10.3390/app12115588
Savin S, Al Badr A, Devitt D, Fedorenko R, Klimchik A. Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone. Applied Sciences. 2022; 12(11):5588. https://doi.org/10.3390/app12115588
Chicago/Turabian StyleSavin, Sergei, Amer Al Badr, Dmitry Devitt, Roman Fedorenko, and Alexandr Klimchik. 2022. "Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone" Applied Sciences 12, no. 11: 5588. https://doi.org/10.3390/app12115588
APA StyleSavin, S., Al Badr, A., Devitt, D., Fedorenko, R., & Klimchik, A. (2022). Mixed-Integer-Based Path and Morphing Planning for a Tensegrity Drone. Applied Sciences, 12(11), 5588. https://doi.org/10.3390/app12115588