Title :
Planning high-visibility stable paths for reconfigurable robots on uneven terrain
Author :
Norouzi, Mohammad ; Miro, Jaime Valls ; Dissanayake, Gamini
Author_Institution :
Fac. of Eng., Univ. of Technol. Sydney (UTS), Sydney, NSW, Australia
Abstract :
This paper proposes a motion planning strategy for reconfigurable mobile robots in uneven terrain. Paths that guarantee stability while at the same time maximise the height of the sensor payload, thereby enhancing the capacity of the robot to explore the environment are obtained using a search algorithm based on A*. This is particularly applicable to operations such as search and rescue where observing the environment for locating victims is the major objective, although the proposed technique can be generalised to incorporate other potentially conflicting objectives such as minimising energy. The proposed planning strategy looks at exploiting the (possibly incomplete) environment information available to the robot and/or operator as it explores novel terrain. The effectiveness of the approach is evaluated using data obtained from a multi-tracked robot fitted with a manipulator arm and a range camera in a mock-up search and rescue arena.
Keywords :
cameras; manipulators; mobile robots; motion control; path planning; search problems; environment information; guarantee stability; high-visibility stable path planning; manipulator arm; minimising energy; mock-up search and rescue arena; motion planning strategy; multitracked robot; range camera; reconfigurable mobile robots; reconfigurable robots; search algorithm; sensor payload; uneven terrain; Laser stability; Robot kinematics; Robot sensing systems; Stability criteria; Vehicles;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385821