Global Path and Motion Planning
The global motion planning problem for tree climbing is challenging, as trees have an irregular and complex shape. To the best of the author’s knowledge, there is no related study that focuses on the global motion planning problem for tree-climbing robot. Aracil  proposed a motion planning method to allow the Parallel Climbing Robot to climb a trunk. However, this work merely discussed the local motion planning problem according to local information. There are many motion planning approaches for climbing in artificial structures, such as walls and glass windows [10, 11, 21]. However, these structures are different from trees, and the approaches are thus not suitable for tree-climbing problems.
KeywordsTarget Position Motion Planning Path Planning Path Segment Continuum Body
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