Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators
The hyper-redundant manipulator (HRM) can explore narrow and curved pipelines by leveraging its high flexibility and redundancy. However, planning collision-free motion trajectories for HRMs in confined environments remains a significant challenge. To address this issue, a pipeline inspection approa...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-09-01
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| Series: | Biomimetic Intelligence and Robotics |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379725000361 |
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| author | Junjie Zhu Mingming Su Longchuan Li Yuxuan Xiang Jianming Wang Xuan Xiao |
| author_facet | Junjie Zhu Mingming Su Longchuan Li Yuxuan Xiang Jianming Wang Xuan Xiao |
| author_sort | Junjie Zhu |
| collection | DOAJ |
| description | The hyper-redundant manipulator (HRM) can explore narrow and curved pipelines by leveraging its high flexibility and redundancy. However, planning collision-free motion trajectories for HRMs in confined environments remains a significant challenge. To address this issue, a pipeline inspection approach that combines nonlinear model predictive control (NMPC) with the snake-inspired crawling algorithm(SCA) is proposed. The approach consists of three processes: insertion, inspection, and exit. The insertion and exit processes utilize the SCA, inspired by snake motion, to significantly reduce path planning time. The inspection process employs NMPC to generate collision-free motion. The prototype HRM is developed, and inspection experiments are conducted in various complex pipeline scenarios to validate the effectiveness and feasibility of the proposed method. Experimental results demonstrate that the approach effectively minimizes the computational cost of path planning, offering a practical solution for HRM applications in pipeline inspection. |
| format | Article |
| id | doaj-art-839edb8241654aa7b10ccfd5705eee08 |
| institution | Kabale University |
| issn | 2667-3797 |
| language | English |
| publishDate | 2025-09-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Biomimetic Intelligence and Robotics |
| spelling | doaj-art-839edb8241654aa7b10ccfd5705eee082025-08-23T04:49:49ZengElsevierBiomimetic Intelligence and Robotics2667-37972025-09-015310024510.1016/j.birob.2025.100245Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulatorsJunjie Zhu0Mingming Su1Longchuan Li2Yuxuan Xiang3Jianming Wang4Xuan Xiao5School of Computer Science and Technology, Tiangong University, Tianjin 300382, ChinaSchool of Computer Science and Technology, Tiangong University, Tianjin 300382, ChinaCollege of Information Science and Technology, Beijing University of Chemical Technology, Beijing 100029, ChinaSchool of Advanced Science and Technology, Japan Advanced Institute of Science and Technology, Ishikawa 923-1292, JapanTianjin Key Laboratory of Autonomous Intelligence Technology and Systems, Tianjin 300382, ChinaSchool of Computer Science and Technology, Tiangong University, Tianjin 300382, China; Corresponding author.The hyper-redundant manipulator (HRM) can explore narrow and curved pipelines by leveraging its high flexibility and redundancy. However, planning collision-free motion trajectories for HRMs in confined environments remains a significant challenge. To address this issue, a pipeline inspection approach that combines nonlinear model predictive control (NMPC) with the snake-inspired crawling algorithm(SCA) is proposed. The approach consists of three processes: insertion, inspection, and exit. The insertion and exit processes utilize the SCA, inspired by snake motion, to significantly reduce path planning time. The inspection process employs NMPC to generate collision-free motion. The prototype HRM is developed, and inspection experiments are conducted in various complex pipeline scenarios to validate the effectiveness and feasibility of the proposed method. Experimental results demonstrate that the approach effectively minimizes the computational cost of path planning, offering a practical solution for HRM applications in pipeline inspection.http://www.sciencedirect.com/science/article/pii/S2667379725000361HRMNMPCTrajectory planningBionics designCollision avoidance |
| spellingShingle | Junjie Zhu Mingming Su Longchuan Li Yuxuan Xiang Jianming Wang Xuan Xiao Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators Biomimetic Intelligence and Robotics HRM NMPC Trajectory planning Bionics design Collision avoidance |
| title | Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators |
| title_full | Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators |
| title_fullStr | Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators |
| title_full_unstemmed | Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators |
| title_short | Snake-inspired trajectory planning and control for confined pipeline inspection with hyper-redundant manipulators |
| title_sort | snake inspired trajectory planning and control for confined pipeline inspection with hyper redundant manipulators |
| topic | HRM NMPC Trajectory planning Bionics design Collision avoidance |
| url | http://www.sciencedirect.com/science/article/pii/S2667379725000361 |
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