Global Path and Motion Planning

  • Tin Lun Lam
  • Yangsheng Xu
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 78)


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 [17] 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.


Target Position Motion Planning Path Planning Path Segment Continuum Body 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  1. 1.William M.W. Mong Engineering BuildingThe Chinese University of Hong KongHong KongChina, People’s Republic
  2. 2.The Chinese University of Hong Kong University Administration BuildingHong KongChina, People’s Republic

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