2 research outputs found
Configuration-Space Flipper Planning for Rescue Robots
For rescue robots, flipper endows the robot with additional ability to pass
through various terrain. Autonomous motion becomes more important. In recent
work autonomy is done by either planning with several special states or based
on collected data. We are considering if it is possible to find a way to build
continues states without collecting old trail data. In this paper, we first
model the possible states as a global planning path with parameter
configuration of the scene. Then, we follows the path to achieve the autonomous
run. We plot the morphology of each path points to show the correctness of the
path and implement a simple path following on real robot to demonstrate the
performance of our algorithm
Configuration-Space Flipper Planning on 3D Terrain
Flippers are essential components of tracked robot locomotion systems for
unstructured terrain, especially within a rescue scenario. Achieving full and
semi-autonomy for such rescue robots is the goal of many research efforts. In
this work, we propose an algorithm to plan the morphologies of a small rescue
robot with four flippers over 3D ground without any extra sensor, such as
pressure sensor. To achieve the goal, we simplify the rescue robot as a
skeleton on inflated terrain. Its morphology can be represented by
configurations of several parameters. Then we plan the mobile movement on 3D
terrain with four individually manipulated flippers. We perform real robot
experiments on three different obstacles. The results show that we move the
flippers very effectively and are thus able to tackle those terrains very well