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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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