ArticleScientific reports2023
Slip considered path planning of a novel angled-spoke based robot in a terrain mixture of granular media and rigid support.
Article in Scientific reports, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors.
Funding
Abstract
Navigation in terrains mixture of rigid support and granular media is associated with slippage. It is important to find the optimal path because slippage implies the possibility of a mobile robot being stuck in the sand. This research introduce concept of effective distance which consider effect of slippage to present a path planning algorithm. Effective distance is a conceptual distance that the mobile robot traverse to reach next node, and it is calculated based on traversable difficulty. Traversable difficulty varies with the slope angle, and the revolution speed of the angled spoke-based wheel (ASW) is estimated using meta-model. The meta-model is achieved empirically. Experiments have done in testbench which can implement slope angle and terrain types. Effectiveness of this algorithm was verified through simulation. For the simulations three cost determination methods, namely, the effective distance with varying revolution speed of the ASW, the effective distance with fixed revolution speed of the ASW, and actual distance were examined in four different scenarios. The effective distance with varying revolution speed of the ASW has maximum [Formula: see text] longer total actual distance. However, it results minimum [Formula: see text] shorter total effective distance.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.