In this chapter we present metrics for rough terrain motion planning used by our hierarchical planner. We employ a two-stage planning approach which allows us to use different cost functions for an initial path search and a detailed motion planning step. To quickly find an initial path we use a roughness quantification and the operating limits of the robot, which allow a fast assessment of the drivability. We then refine the initial path in rough regions of the environment by planning the complete robot states. To determine the desired robot configurations our newly developed metrics consider the system’s actuators, its safety and the time required for traversal. Real world experiments prove the validity and feasibility of the cost functions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Metrics for Path Planning of Reconfigurable Robots in Uneven Terrain


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:


    Publication date :

    2014-01-07


    Size :

    19 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Kinematics of wheeled mobile robots on uneven terrain

    Chakraborty, Nilanjan | Online Contents | 2004


    Reconfigurable robots for all terrain exploration

    Schenker, P. S. / Pirjanian, P. / Balaram, B. et al. | NTRS | 2001


    A terrain-based path planning method for mobile robots

    Howard, A. / Seraji, H. / Werger, B. | NTRS | 2003


    VEHICLE FOR UNEVEN TERRAIN

    HWANG CHEOGGYU / KO SOONHEUM / KO YOUNGDAE et al. | European Patent Office | 2024

    Free access

    VEHICLE FOR UNEVEN TERRAIN

    HWANG CHEOGGYU / KO SOONHEUM / KO YOUNGDAE et al. | European Patent Office | 2022

    Free access