Path Planning Algorithm for a Wheel-Legged Robot Based on the Theta* and Timed Elastic Band Algorithms

Aimed at the difficulty of path planning resulting from variable configuration wheel-legged robot for future deep space explorations, this paper proposes a algorithm based on Theta* and Timed Elastic Band (TEB) algorithm. Firstly, structure is briefly introduced, workspace single leg analyzed. Secondly, method to judge complete obstacles incomplete according height proposed alongside search virtual obstacles, generate grid map wheel body, respectively. By dividing into split body path. The can be still simplified as point by searching obstacle, which avoids shape. Then, we hierarchical multiple optimization algorithms TEB optimized smoothed effectively obtain shorter length higher safety. On that basis, simulated Matlab. results simulations show in plan using configurations different types obstacles. path-planning has broad prospect exploration.