Motion Planning of Legged Vehicles in an Unstructured Environment
نویسندگان
چکیده
A planner for statically-stable motion of a legged robotic vehicle over an uneven terrain is presented that can plan the footplacement of individual legs for highly cluttered terrain. A method for determining the traversability over a generic discretised height map terrain is presented. Planning is broken into two levels of refinement to reduce the overall complexity and incorporates a number of heuristics. The planner has successfully planned the motion of 6 and 8 legged configurations of the XEROX PARC PolyBot modular reconfigurable robot as well as the CMU Ambler in simulation over arbitrarily complex terrain. A distributed implementation of the planner has also been shown on PolyBot’s distributed computational platform.
منابع مشابه
Motion Planning for a Legged Vehicle Based on Optical Sensor Information
Legged vehicles can help to get access to many parts of earth surface which wheeled vehicles can not cope. Different concepts are used to control legged locomotion in unstructured environment. Simple control concepts use gait pattern, which define a fixed sequence of footholds and are suitable for quite flat terrain. Reactive control components like the elevator reflex [8] are added to improve ...
متن کاملMotion Planning for Autonomous Vehicle Based on Radial Basis Function Neural Network in Unstructured Environment
The autonomous vehicle is an automated system equipped with features like environment perception, decision-making, motion planning, and control and execution technology. Navigating in an unstructured and complex environment is a huge challenge for autonomous vehicles, due to the irregular shape of road, the requirement of real-time planning, and the nonholonomic constraints of vehicle. This pap...
متن کاملSensor Based Path Planning in Highly Constrained Environments for Agile Autonomous Vehicles
This paper presents at a class of new methods which explore and describe an unstructured environment according to the free space as seen by a vehicle within the environment. The proposed methods use such sensor-based information to present a safe, goal-seeking path through the environment. The methods are suitable to both online, reactive pathfinding and obstacle avoidance as well as online or ...
متن کاملUsing the Adaptive Frequency Nonlinear Oscillator for Earning an Energy Efficient Motion Pattern in a Leg- Like Stretchable Pendulum by Exploiting the Resonant Mode
In this paper we investigate a biological framework to generate and adapt a motion pattern so that can be energy efficient. In fact, the motion pattern in legged animals and human emerges among interaction between a central pattern generator neural network called CPG and the musculoskeletal system. Here, we model this neuro - musculoskeletal system by means of a leg - like mechanical system cal...
متن کاملEffect of Gap Acceptance Behavior of the Right Turning Vehicles on the Major Road Stream for Uncontrolled Three-Legged Intersections under Mixed Traffic Conditions
Uncontrolled intersections are the intersections where there are no external signs or signals to control the movement of vehicles. In mixed traffic conditions priority rules are often violated by the road users. In All-way-stop-controlled intersections (AWSC), the vehicle should stop themselves before they enter the intersection and should check whether any vehicles are present in the other app...
متن کامل