Raghavan, VS;
Kanoulas, D;
Caldwell, DG;
Tsagarakis, NG;
(2020)
Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot.
In:
Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA).
(pp. pp. 1424-1430).
IEEE: Paris, France.
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Abstract
Hybrid legged-wheeled robots such as the CEN-TAURO, are capable of varying their footprint polygon to carry out various agile motions. This property can be advantageous for wheeled-only planning in cluttered spaces, which is our focus. In this paper, we present an improved algorithm that builds upon our previously introduced preliminary footprint varying A* planner, which was based on the rectangular symmetry of the foot support polygon. In particular, we introduce a Theta* based planner with trapezium-like search, which aims to further reduce the limitations imposed upon the wheeled-only navigation of the CENTAURO robot by the low-dimensional search space, maintaining the real-time computational efficiency. The method is tested on the simulated and real full-size CENTAURO robot in cluttered environments.
| Type: | Proceedings paper |
|---|---|
| Title: | Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot |
| Event: | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
| ISBN-13: | 978-1-7281-7395-5 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/ICRA40945.2020.9197407 |
| Publisher version: | https://doi.org/10.1109/ICRA40945.2020.9197407 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Robot kinematics, Mobile robots, Planning, Wheels, Navigation, Collision avoidance |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10113478 |
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