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Communication Dans Un Congrès Année : 1993

A Practical Motion Planner for All-terrain Mobile Robots

Résumé

This paper addresses the motion planning problem for wheeled vehicules moving on rough terrains. 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 configuration space. The algorithms have been implemented and simulation results are reported at the end of the paper.
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Dates et versions

hal-04295493 , version 1 (20-11-2023)

Identifiants

  • HAL Id : hal-04295493 , version 1

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Thierry Simeon, Benoit Dacre-Wright. A Practical Motion Planner for All-terrain Mobile Robots. IEEE/FSR International Conference on Intelligent Robots and Systems (IROS), Jul 1993, Yokohama, Japan. ⟨hal-04295493⟩
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