IMPROVING MOVEMENT OF WHEELED GROUND ROBOTS ON SLOPES USING LIDAR TECHNOLOGY: MAPPING, PLANNING, AND OPTIMIZATION

The development of wheeled ground robots has enabled them to be used for a variety of tasks. These robots must be able to move with accuracy and precision, especially when faced with obstacles or inclines. To improve the movement of these robots on a slope, lidar data can be used to detect the location and shape of obstacles. In recent years, Lidar technology has become an essential tool for various robotic applications. It has proven to be a game-changer in the field of autonomous navigation, especially in situations where robots have to operate in unknown environments. Lidar technology provides a high-resolution 3D map of the environment around the robot, enabling it to navigate autonomously while avoiding obstacles. In this paper, we discuss the use of Lidar technology in improving the movement of a wheeled ground robot on a slope. We describe the steps involved in obtaining Lidar data, processing the data to create a 3D map of the environment, and using the map to plan more efficient movement of the robot. We present an applied example of how Lidar data improves the movement of a ground robot with wheels on a slope, calculating the inclination of the ground, calculating the force required for the movement of the robot, creating three-dimensional models of the terrain to be navigated, creating plans for more efficient movement, and reducing damage and wear of the robot

Motion planning in tori

Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general position arrangements and Eilenberg-Mac Lane spaces associated to right-angled Artin groups.Comment: Results extended to arbitrary subcomplexes of tori. Results on products of even spheres adde

Motion Planning of Legged Robots

We study the problem of computing the free space F of a simple legged robot called the spider robot. The body of this robot is a single point and the legs are attached to the body. The robot is subject to two constraints: each leg has a maximal extension R (accessibility constraint) and the body of the robot must lie above the convex hull of its feet (stability constraint). Moreover, the robot can only put its feet on some regions, called the foothold regions. The free space F is the set of positions of the body of the robot such that there exists a set of accessible footholds for which the robot is stable. We present an efficient algorithm that computes F in O(n2 log n) time using O(n2 alpha(n)) space for n discrete point footholds where alpha(n) is an extremely slowly growing function (alpha(n) <= 3 for any practical value of n). We also present an algorithm for computing F when the foothold regions are pairwise disjoint polygons with n edges in total. This algorithm computes F in O(n2 alpha8(n) log n) time using O(n2 alpha8(n)) space (alpha8(n) is also an extremely slowly growing function). These results are close to optimal since Omega(n2) is a lower bound for the size of F.Comment: 29 pages, 22 figures, prelininar results presented at WAFR94 and IEEE Robotics & Automation 9

Motion Planning for Kinematic systems

In this paper, we present a general theory of motion planning for kinematic systems. This theory has been developed for long by one of the authors in a previous series of papers. It is mostly based upon concepts from subriemannian geometry. Here, we summarize the results of the theory, and we improve on, by developping in details an intricated case: the ball with a trailer, which corresponds to a distribution with flag of type 2,3,5,6. This paper is dedicated to Bernard Bonnard for his 60th birthday