{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,25]],"date-time":"2025-06-25T06:55:48Z","timestamp":1750834548844,"version":"3.38.0"},"reference-count":28,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2021,2,18]],"date-time":"2021-02-18T00:00:00Z","timestamp":1613606400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2021,9]]},"abstract":"<jats:p> This article presents a novel method\u2014Dynamic Environment Rapid Search Tree\u2014for power transmission line maintenance robot, which is based on the learned field function of reachability and the genetic best-first policy. Dynamic Environment Rapid Search Tree uses a priori information to optimize the node selection strategy in the rigid\u2013flexible coupling environment with slight perturbation and generates the joint path in the configuration space. While the search tree rapidly extends toward the goal configuration, it effectively avoids the obstacles and greatly reduces the expansion of the irrelevant region. Finally, the joint trajectory considering the dynamic constraints and cost function is given, which provides the reference positions and torques for the robot controller. Traditional planning algorithms are compared with our proposed method under two different operation modes, and the planner is demonstrated on the robot under real settings. The experiment results verify the feasibility and adaptiveness of the proposed algorithm and planner, even in slightly and continuously varying environment. <\/jats:p>","DOI":"10.1177\/0959651820987927","type":"journal-article","created":{"date-parts":[[2021,2,18]],"date-time":"2021-02-18T08:54:49Z","timestamp":1613638489000},"page":"1417-1432","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Kinodynamic planning with reachability prediction for PTL maintenance robot"],"prefix":"10.1177","volume":"235","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8375-1496","authenticated-orcid":false,"given":"Xiaoliang","family":"Zheng","sequence":"first","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"}]},{"given":"Gongping","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"}]}],"member":"179","published-online":{"date-parts":[[2021,2,18]]},"reference":[{"key":"bibr1-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2018.2869588"},{"first-page":"8943","volume-title":"Proceedings of the 2019 IEEE international conference on robotics and automation (ICRA)","author":"Lee MA","key":"bibr2-0959651820987927"},{"first-page":"2466","volume-title":"Proceedings of the 2006 IEEE international conference on robotics and automation (ICRA)","author":"Rodriguez S","key":"bibr3-0959651820987927"},{"key":"bibr4-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1631\/FITEE.1900096"},{"key":"bibr5-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2018.2816000"},{"key":"bibr6-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2856927"},{"first-page":"3654","volume-title":"Proceedings of the 2018 IEEE international conference on intelligent robots and systems (IROS)","author":"Zhang C","key":"bibr7-0959651820987927"},{"key":"bibr8-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2012116"},{"key":"bibr9-0959651820987927","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2888947"},{"first-page":"113","volume-title":"Proceedings of the 8th ACM SIGGRAPH conference on motion in games (MIG)","author":"Naderi K","key":"bibr10-0959651820987927"},{"first-page":"7079","volume-title":"Proceedings of the 2018 IEEE international conference on robotics and automation (ICRA)","author":"Bordalba R","key":"bibr11-0959651820987927"},{"first-page":"5054","volume-title":"Proceedings of the 2013 IEEE international conference on robotics and automation (ICRA)","author":"Webb DJ","key":"bibr12-0959651820987927"},{"first-page":"2719","volume-title":"Proceedings of the 1997 IEEE international conference on robotics and automation (ICRA)","author":"Hsu D","key":"bibr13-0959651820987927"},{"key":"bibr14-0959651820987927","unstructured":"Lavalle SM. 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