{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,19]],"date-time":"2026-02-19T00:54:22Z","timestamp":1771462462513,"version":"3.50.1"},"reference-count":31,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2024,7,31]],"date-time":"2024-07-31T00:00:00Z","timestamp":1722384000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2025,1,27]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this study is to address the welding demands within large steel structures by presenting a global spatial motion planning algorithm for a mobile manipulator. This algorithm is based on an independently developed wall-climbing robot, which comprises a four-wheeled climbing mobile platform and a six-degree-of-freedom robotic manipulator, ensuring high mobility and operational flexibility.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A convex hull feasible domain constraint is developed for motion planning in the mobile manipulator. For extensive spatial movements, connected sequences of convex polyhedra are established between the composite robot\u2019s initial and target states. The composite robot\u2019s path and obstacle avoidance optimization problem are solved by constraining the control points on B-spline curves. A dynamic spatial constraint rapidlye-xploring random trees-connect (RRTC) motion planning algorithm is proposed for the manipulator, which quickly generates reference paths using spherical spatial constraints at the manipulator\u2019s end, eliminating the need for complex nonconvex constraint modeling.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Experimental results show that the proposed motion planning algorithm achieves optimal paths that meet task constraints, significantly reducing computation times in task conditions and shortening operation times in non-task conditions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The algorithm proposed in this paper holds certain application value for the realization of automated welding operations within large steel structures using mobile manipulator.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2024-0224","type":"journal-article","created":{"date-parts":[[2024,7,31]],"date-time":"2024-07-31T10:33:17Z","timestamp":1722421997000},"page":"73-83","source":"Crossref","is-referenced-by-count":5,"title":["Research on motion planning system for wall-climbing mobile manipulator for large steel structures welding operation"],"prefix":"10.1108","volume":"52","author":[{"given":"Yan","family":"Xu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yaqiu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xun","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baoyu","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lin","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhengwen","family":"Nie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2024,7,31]]},"reference":[{"key":"key2025012405291444200_ref001","first-page":"403","article-title":"Legged locomotion in challenging terrains using egocentric vision","volume-title":"Conference on Robot Learning, PMLR","year":"2023"},{"key":"key2025012405291444200_ref002","doi-asserted-by":"crossref","first-page":"625","DOI":"10.1109\/ROBOT.2009.5152399","article-title":"Manipulation planning on constraint manifolds","volume-title":"2009 IEEE International Conference on Robotics and Automation","year":"2009"},{"issue":"48105","key":"key2025012405291444200_ref003","first-page":"18","article-title":"Practical search techniques in path planning for autonomous driving","volume":"1001","year":"2008","journal-title":"Ann Arbor"},{"issue":"sp1","key":"key2025012405291444200_ref004","doi-asserted-by":"crossref","first-page":"609","DOI":"10.2112\/SI106-138.1","article-title":"Application of a wall-climbing, welding robot in ship automatic welding","volume":"106","year":"2020","journal-title":"Journal of Coastal Research"},{"issue":"4","key":"key2025012405291444200_ref005","doi-asserted-by":"crossref","first-page":"966","DOI":"10.1109\/TRO.2018.2830331","article-title":"Informed sampling for asymptotically optimal path planning","volume":"34","year":"2018","journal-title":"IEEE Transactions on Robotics"},{"key":"key2025012405291444200_ref006","first-page":"446","article-title":"A six-legged climbing robot for high payloads","volume-title":"Proceedings of the 1998 IEEE International Conference on Control Applications","year":"1998"},{"key":"key2025012405291444200_ref007","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1109\/ICRA.2018.8461265","article-title":"Constrained sampling-based planning for grasping and manipulation","volume-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)","year":"2018"},{"issue":"7","key":"key2025012405291444200_ref008","doi-asserted-by":"crossref","first-page":"846","DOI":"10.1177\/0278364911406761","article-title":"Sampling-based algorithms for optimal motion planning","volume":"30","year":"2011","journal-title":"The International Journal of Robotics Research"},{"key":"key2025012405291444200_ref009","doi-asserted-by":"crossref","first-page":"178","DOI":"10.1016\/j.rcim.2018.04.008","article-title":"A magnetic climbing robot to perform autonomous welding in the shipbuilding industry","volume":"53","year":"2018","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"1","key":"key2025012405291444200_ref010","doi-asserted-by":"crossref","first-page":"202","DOI":"10.1017\/S0263574714001234","article-title":"Tangent bundle RRT: a randomized algorithm for constrained motion planning","volume":"34","year":"2016","journal-title":"Robotica"},{"key":"key2025012405291444200_ref011","first-page":"1533","article-title":"An efficient collision detection algorithm for the dual-robot coordination system","volume-title":"2018 IEEE 3rd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC), IEEE","year":"2018"},{"issue":"4","key":"key2025012405291444200_ref012","doi-asserted-by":"crossref","first-page":"243","DOI":"10.7315\/JCDE.2014.024","article-title":"Design of controller for mobile robot in welding process of shipbuilding engineering","volume":"1","year":"2014","journal-title":"Journal of Computational Design and Engineering"},{"key":"key2025012405291444200_ref013","first-page":"995","article-title":"RRT-connect: an efficient approach to single-query path planning","volume-title":"Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation (ICRA)","year":"2000"},{"issue":"5","key":"key2025012405291444200_ref015","doi-asserted-by":"crossref","first-page":"410","DOI":"10.1016\/j.rcim.2013.03.004","article-title":"Development of modularized airtight controller for mobile welding robot working in harsh environments","volume":"29","year":"2013","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2025012405291444200_ref016","first-page":"404","article-title":"A compact wall-climbing and surface adaptation robot for non-destructive testing","year":"2012"},{"issue":"3","key":"key2025012405291444200_ref018","doi-asserted-by":"crossref","first-page":"1688","DOI":"10.1109\/LRA.2017.2663526","article-title":"Planning dynamically feasible trajectories for quadrotors using safe flight corridors in 3-D complex environments","volume":"2","year":"2017","journal-title":"IEEE Robotics and Automation Letters"},{"key":"key2025012405291444200_ref019","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1109\/IROS51168.2021.9636612","article-title":"B-spline path planner for safe navigation of mobile robots","volume-title":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","year":"2021"},{"key":"key2025012405291444200_ref020","first-page":"124","article-title":"Optimal motion planning for mobile welding robot","volume-title":"Intelligent Robotics and Applications","year":"2017"},{"issue":"3","key":"key2025012405291444200_ref021","doi-asserted-by":"crossref","first-page":"217","DOI":"10.1108\/01439910810868534","article-title":"Development of a climbing robot for inspection of long weld lines","volume":"35","year":"2008","journal-title":"Industrial Robot: An International Journal"},{"issue":"612","key":"key2025012405291444200_ref022","doi-asserted-by":"crossref","first-page":"2918","DOI":"10.1299\/kikaic.63.2918","article-title":"Automatic tracking of welding line by autonomous mobile robot for welding of plates (tracking of linear and angled welding lines)","volume":"63","year":"1997","journal-title":"Transactions of the Japan Society of Mechanical Engineers, Part C"},{"key":"key2025012405291444200_ref023","article-title":"Tunnel-MILP: path planning with sequential convex polytopes","volume-title":"AIAA Guidance, Navigation and Control Conference and Exhibit","year":"2008"},{"issue":"1","key":"key2025012405291444200_ref024","doi-asserted-by":"crossref","first-page":"63","DOI":"10.5772\/54008","article-title":"Design and optimal research of a non-contact adjustable magnetic adhesion mechanism for a wall-climbing welding robot","volume":"10","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"4","key":"key2025012405291444200_ref025","doi-asserted-by":"crossref","first-page":"1147","DOI":"10.1109\/TASE.2013.2252462","article-title":"Optimal motion planning of all position autonomous mobile welding robot system for fillet seams","volume":"10","year":"2013","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"key":"key2025012405291444200_ref026","doi-asserted-by":"crossref","first-page":"4327","DOI":"10.1109\/CDC.2018.8619433","article-title":"Autonomous parking using optimization-based collision avoidance","volume-title":"2018 IEEE Conference on Decision and Control (CDC)","year":"2018"},{"issue":"4","key":"key2025012405291444200_ref027","doi-asserted-by":"crossref","first-page":"3529","DOI":"10.1109\/LRA.2019.2927938","article-title":"Robust and efficient quadrotor trajectory generation for fast autonomous flight","volume":"4","year":"2019","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"key2025012405291444200_ref028","doi-asserted-by":"crossref","first-page":"2116","DOI":"10.1109\/LRA.2019.2899750","article-title":"\u2018Keep Rollin\u2019\u2014whole-body motion control and planning for wheeled quadrupedal robots","volume":"4","year":"2019","journal-title":"IEEE Robotics and Automation Letters, IEEE"},{"key":"key2025012405291444200_ref029","first-page":"5589","article-title":"Hybrid driving-stepping locomotion with the wheeled-legged robot Momaro","volume-title":"2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE","year":"2016"},{"key":"key2025012405291444200_ref030","first-page":"4043","article-title":"PAW: a hybrid wheeled-leg robot\u201d","volume-title":"Proceedings 2006 IEEE International Conference on Robotics and Automation (ICRA)","year":"2006"},{"key":"key2025012405291444200_ref031","first-page":"2002","article-title":"Autonomous location of the welding workspace in the box girder","volume-title":"2023 IEEE International Conference on Mechatronics and Automation (ICMA), IEEE, Harbin","year":"2023"},{"key":"key2025012405291444200_ref032","doi-asserted-by":"crossref","first-page":"106281","DOI":"10.1016\/j.engappai.2023.106281","article-title":"Reinforcement learning compensated coordination control of multiple mobile manipulators for tight cooperation","volume":"123","year":"2023","journal-title":"Engineering Applications of Artificial Intelligence"},{"issue":"2","key":"key2025012405291444200_ref033","doi-asserted-by":"crossref","first-page":"64","DOI":"10.3390\/biomimetics9020064","article-title":"Adaptive skid-steering control approach for robots on uncertain inclined planes with redundant Load-Bearing mobility","volume":"9","year":"2024","journal-title":"Biomimetics"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2024-0224\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2024-0224\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:13Z","timestamp":1753393153000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/52\/1\/73-83\/1242419"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,7,31]]},"references-count":31,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2024,7,31]]},"published-print":{"date-parts":[[2025,1,27]]}},"alternative-id":["10.1108\/IR-05-2024-0224"],"URL":"https:\/\/doi.org\/10.1108\/ir-05-2024-0224","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"1758-5791","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,7,31]]}}}