Configuration-Space Flipper Planning for Rescue Robots
This addresses the challenge of autonomous navigation in varied terrains for rescue robots, but appears incremental as it builds on existing planning approaches.
The paper tackles the problem of enabling autonomous motion for rescue robots with flippers by developing a method to plan continuous states without relying on collected trail data, and demonstrates its correctness and performance through morphology plots and real robot implementation.
For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by either planning with several special states or based on collected data. We are considering if it is possible to find a way to build continues states without collecting old trail data. In this paper, we first model the possible states as a global planning path with parameter configuration of the scene. Then, we follows the path to achieve the autonomous run. We plot the morphology of each path points to show the correctness of the path and implement a simple path following on real robot to demonstrate the performance of our algorithm.