Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles

Legged and wheeled locomotion are two standard methods used by robots to perform navigation. Combining them create a hybrid legged-wheeled results in increased speed, agility, reconfigurability for the robot, allowing it traverse multitude of environments. The CENTAURO robot has these advantages, but they accompanied higher-dimensional search space formulating autonomous economical motion plans, especially cluttered In this article, we first review our previously presented footprint reconfiguring global planner. We describe incremental prototypes, where primary goal algorithms is reduce possible footprints such that plans expand over low-lying wide obstacles or narrow into passages can be computed with speed efficiency. planner also considers cost avoiding versus negotiating expanding them. second part article presents new work on local obstacle pushing, which further increases number tight scenarios solve. push-planner place any movable unknown mass inertial properties, obstructing planned trajectory from planner, location devoid obstruction. This done while minimising distance traveled object pushed, its rotation caused push. Together, planners form major agile reconfigurable navigation suite robot.