This paper presents a set of motion planners for an exploration vehicle on a simulated rugged terrain. The vehicle has four wheels for its movement and a robotic arm mounted on the vehicle for object manipulation. Given a target point to reach with the hand of the arm, our planners first compute a path for the vehicle to the vicinity of the target, then compute an optimal vehicle position from which the arm can reach the target point, and then plans a path for the arm to reach the target. The vehicle path is planned in two stages. A rough path is planned considering only global features of the terrain, and the path is modified by a local planner to avoid more detailed features of the terrain. The planners are expected to increase the autonomy of robots and improve the efficiencies of exploration missions.


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    Title :

    Motion planning of a robotic arm on a wheeled vehicle on a rugged terrain


    Contributors:
    Y. K. Hwang (author)

    Publication date :

    1996


    Size :

    7 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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