{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T05:08:33Z","timestamp":1774933713061,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T00:00:00Z","timestamp":1690156800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T00:00:00Z","timestamp":1690156800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","award":["2021R1A2C2013053"],"award-info":[{"award-number":["2021R1A2C2013053"]}],"id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Complex Intell. Syst."],"published-print":{"date-parts":[[2024,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Mobile cable-driven parallel robots (MCDPRs) offer expanded motion capabilities and workspace compared to traditional cable-driven parallel robots (CDPRs) by incorporating mobile bases. However, additional mobile bases introduce more degree-of-freedom (DoF) and various constraints to make their motion planning a challenging problem. Despite several motion planning methods for MCDPRs being developed in the literature, they are only applicable to known environments, and autonomous navigation in unknown environments with obstacles remains a challenging issue. The ability to navigate autonomously is essential for MCDPRs, as it opens up possibilities for the robot to perform a broad range of tasks in real-world scenarios. To address this limitation, this study proposes an online motion planning method for MCDPRs based on the pipeline of rapidly exploring random tree (RRT). The presented approach explores unknown environments efficiently to produce high-quality collision-free trajectories for MCDPRs. To ensure the optimal execution of the planned trajectories, the study introduces two indicators specifically designed for the mobile bases and the end-effector. These indicators take into account various performance metrics, including trajectory quality and kinematic performance, enabling the determination of the final following trajectory that best aligns with the desired objectives of the robot. Moreover, to effectively handle unknown environments, a vision-based system utilizing an RGB-D camera is developed, allowing for precise MCDPR localization and obstacle detection, ultimately enhancing the autonomy and adaptability of the MCDPR. Finally, the extensive simulations conducted using dynamic simulation software (CoppeliaSim) and the on-board real-world experiments with a self-built MCDPR prototype demonstrate the practical applicability and effectiveness of the proposed method.<\/jats:p>","DOI":"10.1007\/s40747-023-01169-2","type":"journal-article","created":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T04:01:31Z","timestamp":1690171291000},"page":"397-412","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Online motion planning of mobile cable-driven parallel robots for autonomous navigation in uncertain environments"],"prefix":"10.1007","volume":"10","author":[{"given":"Jiajun","family":"Xu","sequence":"first","affiliation":[]},{"given":"Byeong-Geon","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Xiguang","family":"Feng","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3455-336X","authenticated-orcid":false,"given":"Kyoung-Su","family":"Park","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,7,24]]},"reference":[{"issue":"1","key":"1169_CR1","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s41693-017-0008-0","volume":"1","author":"J-B Izard","year":"2017","unstructured":"Izard J-B, Dubor A, Herv\u00e9 P-E, Cabay E, Culla D, Rodriguez M, Barrado M (2017) Large-scale 3d printing with cable-driven parallel robots. Construct Robot 1(1):69\u201376","journal-title":"Construct Robot"},{"key":"1169_CR2","doi-asserted-by":"crossref","unstructured":"Chen G, Baek S, Florez J.-D, Qian W, Leigh S.-w, Hutchinson S, Dellaert F (2022) Gtgraffiti: Spray painting graffiti art from human painting motions with a cable driven parallel robot. In: 2022 International Conference on Robotics and Automation (ICRA). IEEE, pp. 4065\u20134072","DOI":"10.1109\/ICRA46639.2022.9812008"},{"issue":"4","key":"1169_CR3","doi-asserted-by":"publisher","first-page":"1497","DOI":"10.1109\/TMECH.2019.2917294","volume":"24","author":"Q Chen","year":"2019","unstructured":"Chen Q, Zi B, Sun Z, Li Y, Xu Q (2019) Design and development of a new cable-driven parallel robot for waist rehabilitation. IEEE\/ASME Trans Mechatron 24(4):1497\u20131507","journal-title":"IEEE\/ASME Trans Mechatron"},{"key":"1169_CR4","doi-asserted-by":"crossref","unstructured":"Rasheed T, Long P, Marquez-Gamez D, Caro S (2019) Kinematic modeling and twist feasibility of mobile cable-driven parallel robots. In: Advances in Robot Kinematics 2018 16. Springer, pp. 410\u2013418","DOI":"10.1007\/978-3-319-93188-3_47"},{"issue":"1","key":"1169_CR5","doi-asserted-by":"publisher","first-page":"147","DOI":"10.1109\/TRO.2018.2871395","volume":"35","author":"G Abbasnejad","year":"2018","unstructured":"Abbasnejad G, Eden J, Lau D (2018) Generalized ray-based lattice generation and graph representation of wrench-closure workspace for arbitrary cable-driven robots. IEEE Trans Robot 35(1):147\u2013161","journal-title":"IEEE Trans Robot"},{"key":"1169_CR6","doi-asserted-by":"crossref","unstructured":"Gagliardini L, Gouttefarde M, Caro S (2018) Design of reconfigurable cable-driven parallel robots. In: Mechatronics for Cultural Heritage and Civil Engineering. Springer, pp. 85\u2013113","DOI":"10.1007\/978-3-319-68646-2_4"},{"issue":"6","key":"1169_CR7","doi-asserted-by":"publisher","first-page":"5173","DOI":"10.1109\/TMECH.2022.3175217","volume":"27","author":"R Wang","year":"2022","unstructured":"Wang R, Li S, Li Y (2022) A suspended cable-driven parallel robot with articulated reconfigurable moving platform for sch\u00f6nflies motions. IEEE\/ASME Trans Mechatron 27(6):5173\u20135184","journal-title":"IEEE\/ASME Trans Mechatron"},{"issue":"6","key":"1169_CR8","doi-asserted-by":"publisher","DOI":"10.1115\/1.4055255","volume":"14","author":"H Xiong","year":"2022","unstructured":"Xiong H, Cao H, Zeng W, Huang J, Diao X, Lu W, Lou Y (2022) Real-time reconfiguration planning for the dynamic control of reconfigurable cable-driven parallel robots. J Mech Robot 14(6):060913","journal-title":"J Mech Robot"},{"key":"1169_CR9","doi-asserted-by":"crossref","unstructured":"Pedemonte N, Rasheed T, Marquez-Gamez D, Long P, Hocquard \u00c9, Babin F, Fouch\u00e9 C, Caverot G, Girin A, Caro S (2020) Fastkit: a mobile cable-driven parallel robot for logistics. In: Advances in Robotics Research: From Lab to Market. Springer, pp. 141\u2013163","DOI":"10.1007\/978-3-030-22327-4_8"},{"issue":"4","key":"1169_CR10","doi-asserted-by":"publisher","first-page":"635","DOI":"10.1109\/TRO.2010.2049527","volume":"26","author":"L Jaillet","year":"2010","unstructured":"Jaillet L, Cort\u00e9s J, Sim\u00e9on T (2010) Sampling-based path planning on configuration-space costmaps. IEEE Trans Robot 26(4):635\u2013646","journal-title":"IEEE Trans Robot"},{"key":"1169_CR11","unstructured":"La Valle SM, et\u00a0al (1998) Rapidly-exploring random trees: a new tool for path planning"},{"key":"1169_CR12","doi-asserted-by":"crossref","unstructured":"Gammell JD, Srinivasa SS, Barfoot TD (2014) Informed rrt*: optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 2997\u20133004","DOI":"10.1109\/IROS.2014.6942976"},{"key":"1169_CR13","unstructured":"Kuffner JJ, LaValle SM (2000) Rrt-connect: an efficient approach to single-query path planning. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065), vol.\u00a02. IEEE, pp. 995\u20131001"},{"issue":"1","key":"1169_CR14","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1007\/s10846-021-01440-z","volume":"104","author":"S Spanogiannopoulos","year":"2022","unstructured":"Spanogiannopoulos S, Zweiri Y, Seneviratne L (2022) Sampling-based non-holonomic path generation for self-driving cars. J Intell Robot Syst 104(1):14","journal-title":"J Intell Robot Syst"},{"issue":"11","key":"1169_CR15","doi-asserted-by":"publisher","first-page":"3179","DOI":"10.1109\/TITS.2017.2673778","volume":"18","author":"Y Lin","year":"2017","unstructured":"Lin Y, Saripalli S (2017) Sampling-based path planning for uav collision avoidance. IEEE Trans Intell Transp Syst 18(11):3179\u20133192","journal-title":"IEEE Trans Intell Transp Syst"},{"key":"1169_CR16","doi-asserted-by":"publisher","first-page":"2665","DOI":"10.1007\/s13042-020-01144-0","volume":"11","author":"N Wen","year":"2020","unstructured":"Wen N, Zhang R, Wu J, Liu G (2020) Online planning for relative optimal and safe paths for usvs using a dual sampling domain reduction-based rrt* method. Int J Mach Learn Cybern 11:2665\u20132687","journal-title":"Int J Mach Learn Cybern"},{"key":"1169_CR17","doi-asserted-by":"crossref","unstructured":"Zhang L, Lin Z, Wang J, He B (2020) Rapidly-exploring random trees multi-robot map exploration under optimization framework. Robot Auton Syst 131:103565","DOI":"10.1016\/j.robot.2020.103565"},{"issue":"4","key":"1169_CR18","doi-asserted-by":"publisher","first-page":"9256","DOI":"10.1109\/LRA.2022.3190628","volume":"7","author":"BPL Lau","year":"2022","unstructured":"Lau BPL, Ong BJY, Loh LKY, Liu R, Yuen C, Soh GS, Tan U-X (2022) Multi-agv\u2019s temporal memory-based rrt exploration in unknown environment. IEEE Robot Autom Lett 7(4):9256\u20139263","journal-title":"IEEE Robot Autom Lett"},{"key":"1169_CR19","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s10846-017-0516-7","volume":"89","author":"AA Neto","year":"2018","unstructured":"Neto AA, Macharet DG, Campos MFM (2018) Multi-agent rapidly-exploring pseudo-random tree. J Intell Robot Syst 89:69\u201385","journal-title":"J Intell Robot Syst"},{"issue":"6","key":"1169_CR20","doi-asserted-by":"publisher","first-page":"4983","DOI":"10.1109\/TMECH.2022.3169812","volume":"27","author":"J Xu","year":"2022","unstructured":"Xu J, Qian C, Park J-W, Park K-S (2022) Adaptive sampling-based moving obstacle avoidance for cable-driven parallel robots. IEEE\/ASME Trans Mech 27(6):4983\u20134993","journal-title":"IEEE\/ASME Trans Mech"},{"key":"1169_CR21","doi-asserted-by":"crossref","unstructured":"Xiang S, Gao H, Liu Z, Gosselin C (2020) Dynamic point-to-point trajectory planning for three degrees-of-freedom cable-suspended parallel robots using rapidly exploring random tree search. J Mech Robot 12(4)","DOI":"10.1115\/1.4045848"},{"key":"1169_CR22","doi-asserted-by":"crossref","unstructured":"Mishra UA, Mishra U, M\u00e9tillon M, Caro S, et\u00a0al (2021) Kinematic stability based afg-rrt* path planning for cable-driven parallel robots. In: The 2021 IEEE International Conference on Robotics and Automation (ICRA 2021)","DOI":"10.1109\/ICRA48506.2021.9560741"},{"key":"1169_CR23","doi-asserted-by":"crossref","unstructured":"Rasheed T, Long P, Marquez-Gamez D, Caro S (2019) Path planning of a mobile cable-driven parallel robot in a constrained environment. In: International Conference on Cable-Driven Parallel Robots. Springer, pp. 257\u2013268","DOI":"10.1007\/978-3-030-20751-9_22"},{"key":"1169_CR24","doi-asserted-by":"crossref","unstructured":"Rasheed T, Long P, Roos A.\u00a0S, .Caro S (2019) Optimization based trajectory planning of mobile cable-driven parallel robots. In: 2019 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, pp. 6788\u20136793","DOI":"10.1109\/IROS40897.2019.8968133"},{"issue":"3","key":"1169_CR25","doi-asserted-by":"publisher","first-page":"1683","DOI":"10.1109\/LRA.2023.3241801","volume":"8","author":"Y Liu","year":"2023","unstructured":"Liu Y, Cao Z, Xiong H, Du J, Cao H, Zhang L (2023) Dynamic obstacle avoidance for cable-driven parallel robots with mobile bases via sim-to-real reinforcement learning. IEEE Robot Autom Lett 8(3):1683\u20131690","journal-title":"IEEE Robot Autom Lett"},{"key":"1169_CR26","doi-asserted-by":"crossref","unstructured":"Yan C, Xiang X, Wang C (2020) Towards real-time path planning through deep reinforcement learning for a uav in dynamic environments. J Intell Robot Syst 98:297\u2013309","DOI":"10.1007\/s10846-019-01073-3"},{"issue":"11","key":"1169_CR27","doi-asserted-by":"publisher","first-page":"2930","DOI":"10.1016\/j.cja.2020.05.001","volume":"33","author":"W Chang","year":"2020","unstructured":"Chang W, Lizhen W, Chao Y, Zhichao W, Han L, Chao Y (2020) Coactive design of explainable agent-based task planning and deep reinforcement learning for human-uavs teamwork. Chin J Aeronaut 33(11):2930\u20132945","journal-title":"Chin J Aeronaut"},{"key":"1169_CR28","doi-asserted-by":"publisher","first-page":"1457","DOI":"10.1007\/s11071-015-2252-5","volume":"82","author":"N Nedic","year":"2015","unstructured":"Nedic N, Stojanovic V, Djordjevic V (2015) Optimal control of hydraulically driven parallel robot platform based on firefly algorithm. Nonlinear Dyn 82:1457\u20131473","journal-title":"Nonlinear Dyn"},{"key":"1169_CR29","doi-asserted-by":"publisher","first-page":"1085","DOI":"10.1007\/s00170-014-5735-5","volume":"72","author":"N Nedic","year":"2014","unstructured":"Nedic N, Prsic D, Dubonjic L, Stojanovic V, Djordjevic V (2014) Optimal cascade hydraulic control for a parallel robot platform by pso. Int J Adv Manuf Technol 72:1085\u20131098","journal-title":"Int J Adv Manuf Technol"},{"issue":"1","key":"1169_CR30","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1007\/s10957-015-0706-z","volume":"168","author":"V Stojanovic","year":"2016","unstructured":"Stojanovic V, Nedic N (2016) A nature inspired parameter tuning approach to cascade control for hydraulically driven parallel robot platform. J Optim Theory Appl 168(1):332\u2013347","journal-title":"J Optim Theory Appl"},{"issue":"1","key":"1169_CR31","doi-asserted-by":"publisher","first-page":"329","DOI":"10.1109\/TCYB.2021.3091680","volume":"53","author":"O Tutsoy","year":"2021","unstructured":"Tutsoy O, Barkana DE, Balikci K (2021) A novel exploration-exploitation-based adaptive law for intelligent model-free control approaches. IEEE Trans Cybern 53(1):329\u2013337","journal-title":"IEEE Trans Cybern"},{"key":"1169_CR32","doi-asserted-by":"crossref","unstructured":"Rohmer E, Singh SP, Freese M (2013) V-rep: a versatile and scalable robot simulation framework. In: 2013 IEEE\/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 1321\u20131326","DOI":"10.1109\/IROS.2013.6696520"},{"key":"1169_CR33","doi-asserted-by":"crossref","unstructured":"Wu T-H, Wang T-W, Liu Y-Q (2021) Real-time vehicle and distance detection based on improved yolo v5 network. In: (2021) 3rd World Symposium on Artificial Intelligence (WSAI). IEEE 2021:24\u201328","DOI":"10.1109\/WSAI51899.2021.9486316"},{"issue":"4","key":"1169_CR34","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1007\/s40903-015-0032-7","volume":"1","author":"K Yousif","year":"2015","unstructured":"Yousif K, Bab-Hadiashar A, Hoseinnezhad R (2015) An overview to visual odometry and visual slam: applications to mobile robotics. Intell Ind Syst 1(4):289\u2013311","journal-title":"Intell Ind Syst"}],"container-title":["Complex &amp; Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-023-01169-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s40747-023-01169-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s40747-023-01169-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,10]],"date-time":"2024-02-10T22:16:59Z","timestamp":1707603419000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s40747-023-01169-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,7,24]]},"references-count":34,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2024,2]]}},"alternative-id":["1169"],"URL":"https:\/\/doi.org\/10.1007\/s40747-023-01169-2","relation":{},"ISSN":["2199-4536","2198-6053"],"issn-type":[{"value":"2199-4536","type":"print"},{"value":"2198-6053","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,7,24]]},"assertion":[{"value":"30 March 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 June 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 July 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"There is no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}}]}}