Name
Title | ||
|---|---|---|
Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot. |
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. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197407 | ICRA |
DocType | Volume | Issue |
Conference | 2020 | 1 |
Citations | PageRank | References |
0 | 0.34 | 17 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Vignesh Sushrutha Raghavan | 1 | 1 | 1.03 |
| Dimitrios Kanoulas | 2 | 3 | 3.42 |
| Darwin G. Caldwell | 3 | 2900 | 319.72 |
| NG Tsagarakis | 4 | 1492 | 159.09 |