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Planning Stable and Efficient Paths for Reconfigurable Robots On Uneven Terrain

An analytical strategy to generate stable paths for reconfigurable mobile robots such as those equipped with manipulator arms and/or flippers, operating in an uneven environment whilst also meeting additional navigational objectives is hereby proposed. The suggested solution looks at minimising the... Full description

Journal Title: Journal of Intelligent & Robotic Systems 2017, Vol.87(2), pp.291-312
Main Author: Norouzi, Mohammad
Other Authors: Miro, Jaime , Dissanayake, Gamini
Format: Electronic Article Electronic Article
Language: English
Subjects:
ID: ISSN: 0921-0296 ; E-ISSN: 1573-0409 ; DOI: 10.1007/s10846-017-0495-8
Link: http://dx.doi.org/10.1007/s10846-017-0495-8
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recordid: springer_jour10.1007/s10846-017-0495-8
title: Planning Stable and Efficient Paths for Reconfigurable Robots On Uneven Terrain
format: Article
creator:
  • Norouzi, Mohammad
  • Miro, Jaime
  • Dissanayake, Gamini
subjects:
  • Stability
  • Mechanical Reconfiguration
  • Path planning
  • Automation
  • Rescue robotics
ispartof: Journal of Intelligent & Robotic Systems, 2017, Vol.87(2), pp.291-312
description: An analytical strategy to generate stable paths for reconfigurable mobile robots such as those equipped with manipulator arms and/or flippers, operating in an uneven environment whilst also meeting additional navigational objectives is hereby proposed. The suggested solution looks at minimising the length of the traversed path and the energy expenditure in changing postures, and also accounts for additional constraints in terms of sensor visibility and traction. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although this technique can be generalised to incorporate other potentially conflicting objectives (e.g. maximising ground clearance for a legged robot). The validity of the proposed approach is evaluated with two popular graph-based planners (A* and RRT) on a multi-tracked robot fitted with a manipulator arm and a range camera. Two challenging 3D terrain data sets have been employed: one obtained whilst operating the robot in a mock-up urban search and rescue (USAR) arena, and a second one, a reference on-line data set acquired on the quasi-outdoor rover testing facility at the University of Toronto Institute for Aerospace Studies (UTIAS).
language: eng
source:
identifier: ISSN: 0921-0296 ; E-ISSN: 1573-0409 ; DOI: 10.1007/s10846-017-0495-8
fulltext: fulltext
issn:
  • 1573-0409
  • 15730409
  • 0921-0296
  • 09210296
url: Link


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titlePlanning Stable and Efficient Paths for Reconfigurable Robots On Uneven Terrain
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subjectStability ; Mechanical Reconfiguration ; Path planning ; Automation ; Rescue robotics
descriptionAn analytical strategy to generate stable paths for reconfigurable mobile robots such as those equipped with manipulator arms and/or flippers, operating in an uneven environment whilst also meeting additional navigational objectives is hereby proposed. The suggested solution looks at minimising the length of the traversed path and the energy expenditure in changing postures, and also accounts for additional constraints in terms of sensor visibility and traction. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although this technique can be generalised to incorporate other potentially conflicting objectives (e.g. maximising ground clearance for a legged robot). The validity of the proposed approach is evaluated with two popular graph-based planners (A* and RRT) on a multi-tracked robot fitted with a manipulator arm and a range camera. Two challenging 3D terrain data sets have been employed: one obtained whilst operating the robot in a mock-up urban search and rescue (USAR) arena, and a second one, a reference on-line data set acquired on the quasi-outdoor rover testing facility at the University of Toronto Institute for Aerospace Studies (UTIAS).
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titlePlanning Stable and Efficient Paths for Reconfigurable Robots On Uneven Terrain
descriptionAn analytical strategy to generate stable paths for reconfigurable mobile robots such as those equipped with manipulator arms and/or flippers, operating in an uneven environment whilst also meeting additional navigational objectives is hereby proposed. The suggested solution looks at minimising the length of the traversed path and the energy expenditure in changing postures, and also accounts for additional constraints in terms of sensor visibility and traction. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although this technique can be generalised to incorporate other potentially conflicting objectives (e.g. maximising ground clearance for a legged robot). The validity of the proposed approach is evaluated with two popular graph-based planners (A* and RRT) on a multi-tracked robot fitted with a manipulator arm and a range camera. Two challenging 3D terrain data sets have been employed: one obtained whilst operating the robot in a mock-up urban search and rescue (USAR) arena, and a second one, a reference on-line data set acquired on the quasi-outdoor rover testing facility at the University of Toronto Institute for Aerospace Studies (UTIAS).
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abstractAn analytical strategy to generate stable paths for reconfigurable mobile robots such as those equipped with manipulator arms and/or flippers, operating in an uneven environment whilst also meeting additional navigational objectives is hereby proposed. The suggested solution looks at minimising the length of the traversed path and the energy expenditure in changing postures, and also accounts for additional constraints in terms of sensor visibility and traction. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although this technique can be generalised to incorporate other potentially conflicting objectives (e.g. maximising ground clearance for a legged robot). The validity of the proposed approach is evaluated with two popular graph-based planners (A* and RRT) on a multi-tracked robot fitted with a manipulator arm and a range camera. Two challenging 3D terrain data sets have been employed: one obtained whilst operating the robot in a mock-up urban search and rescue (USAR) arena, and a second one, a reference on-line data set acquired on the quasi-outdoor rover testing facility at the University of Toronto Institute for Aerospace Studies (UTIAS).
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doi10.1007/s10846-017-0495-8
pages291-312
date2017-08