A practical motion planner for all-terrain mobile robots
نویسندگان
چکیده
This paper addresses the motion planning problem for wheeled vehicules moving on rough terrains 1. First, we formalize the placement problem for the case of a rather complex locomotion system consisting of n wheels attached to the robot body by passive suspensions. We next analyze the geometric and kinematic constraints acting on the placements of the robot. Finally, we present a planning method that computes a safe and feasible path between two given placements of the robot. The approach basically consists in searching a path into a graph built incrementally during the exploration of a discrete 3D connguration space. The algorithms have been implemented and simulation results are reported at the end of the paper.
منابع مشابه
Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environ¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first an...
متن کاملA Terrain-Based Path Planning Method for Mobile Robots
This paper presents a technique for incorporating terrain traversability data into a global path planning method for field mobile robots operating on rough natural terrain. The focus of this approach is on assessing the traversability characteristics of the global terrain using a multi-valued map representation of traversal dificulty, and using this information to compute a traversal cost funct...
متن کاملModel Predictive Control for Mobile Robots with Actively Reconfigurable Chassis
Actively reconfigurable chassis enable planetary mobile robots to access more varieties of terrain. While typical approaches for exploiting such mechanisms reply on feedback control, it is beneficial to consider actively controlled elements at planning time rather than during motion execution. In this paper we present an approach for extending work in model-predictive trajectory generation to a...
متن کاملRobust motion planning for rough terrain navigation
This paper deals with motion planning for a mobile robot on rough terrain. We proposed in 9] a geometrical planner for articulated robots which can take into account uncertainty on the terrain and on the position of the robot. This paper aims at improving the robustness of the trajectory using landmark based approach. We consider regions of the terrain where natural landmarks are visible. We pr...
متن کاملRough Terrain Motion Planning for Actuated, Tracked Robots
Traversing challenging structures like boulders, rubble, stairs and steps, mobile robots need a special level of mobility. Robots with reconfigurable chassis are able to alter their configuration to overcome such structures. This paper presents a two-stage motion planning scheme for reconfigurable robots in rough terrain. First, we consider the robot’s operating limits rather than the complete ...
متن کامل