Modular robots, which are systems made of many robotic modules, can utilize various types of locomotion. Different approaches can be used to generate these basic motion skills — motion primitives. To move in a complex environment, several motion primitives are needed and a mechanism to switch them is required. This can be realized using a high-level motion planning. To enable autonomous operation of modular robots equipped with limited computational resources, it is necessary to generate the motion plans on-board, i.e., without external computers. In this paper, we propose a novel simplified motion model of a modular robot, which allows the robot to employ the motion planner as a fast on-board replanner. The proposed approach has been verified both in simulations as well as with real robots.


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    Titel :

    Fast on-board motion planning for modular robots


    Beteiligte:
    Vonasek, Vojtech (Autor:in) / Winkler, Lutz (Autor:in) / Liedke, Jens (Autor:in) / Saska, Martin (Autor:in) / Kosnar, Karel (Autor:in) / Preucil, Libor (Autor:in)


    Erscheinungsdatum :

    2014-05-01


    Format / Umfang :

    5021488 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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