Efficient Motion Planning for Mobile Robots Dealing with Changes in Rough Terrain

2019 ◽  
Vol 2019 (0) ◽  
pp. 2A2-C13
Author(s):  
Shinya KATSUMA ◽  
Hanwool WOO ◽  
Yonghoon JI ◽  
Yusuke TAMURA ◽  
Atsushi YAMASHITA ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Rough Terrain

scholarly journals Efficient Motion Planning for Mobile Robots Dealing with Changes in Rough Terrain

2019 ◽  
Vol 52 (22) ◽  
pp. 83-86
Author(s):  
Shinya Katsuma ◽  
Hanwool Woo ◽  
Yonghoon Ji ◽  
Yusuke Tamura ◽  
Atsushi Yamashita ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Rough Terrain

scholarly journals The WL_PCR: A Planning for Ground-to-Pole Transition of Wheeled-Legged Pole-Climbing Robots

Robotics ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 96
Author(s):  
Yankai Wang ◽  
Qiaoling Du ◽  
Tianhe Zhang ◽  
Chengze Xue
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Dynamic Process ◽  
Mathematical Expression ◽  
Truss Structure ◽  
Centre Of Mass ◽  
Climbing Robots ◽  
Wheeled Vehicle ◽  
Motion Modes

Hybrid mobile robots with two motion modes of a wheeled vehicle and truss structure with the ability to climb poles have significant flexibility. The motion planning of this kind of robot on a pole has been widely studied, but few studies have focused on the transition of the robot from the ground to the pole. In this study, a locomotion strategy of wheeled-legged pole-climbing robots (the WL_PCR) is proposed to solve the problem of ground-to-pole transition. By analyzing the force of static and dynamic process in the ground-to-pole transition, the condition of torque provided by the gripper and moving joint is proposed. The mathematical expression of Centre of Mass (CoM) of the wheeled-legged pole-climbing robots is utilized, and the conditions for the robot to smoothly transition from the ground to the vertical pole are proposed. Finally, the feasibility of this method is proved by the simulation and experimentation of a locomotion strategy on wheeled-legged pole-climbing robots.

scholarly journals Motion Planning for a Chain of Mobile Robots Using A* and Potential Field

Robotics ◽  
2018 ◽  
Vol 7 (2) ◽  
pp. 20 ◽  
Author(s):  
A poorva ◽  
Rahul Gautam ◽  
Rahul Kala
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Potential Field ◽  
A Chain

Motion Planning for Cooperative Transportation of a Large Object by Multiple Mobile Robots.

2002 ◽  
Vol 68 (665) ◽  
pp. 165-172
Author(s):  
Atsushi YAMASHITA ◽  
Masaki FUKUCHI ◽  
Jun OTA ◽  
Tamio ARAI ◽  
Hajime ASAMA
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Large Object ◽  
Multiple Mobile Robots ◽  
Cooperative Transportation

High-speed hazard avoidance for mobile robots in rough terrain

2004 ◽  
Author(s):  
Matthew J. Spenko ◽  
Karl D. Iagnemma ◽  
Steven Dubowsky
Keyword(s):  
Mobile Robots ◽  
High Speed ◽  
Rough Terrain ◽  
Hazard Avoidance

Research on autonomous exploration motion planning method of mobile robots for unstructured scenarios

2021 ◽  
Author(s):  
Xuehao Sun ◽  
Shuchao Deng ◽  
Baohong Tong ◽  
Shuang Wang ◽  
Shuai Ma ◽  
...  
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Planning Method ◽  
Autonomous Exploration

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

2015 ◽  
Vol 63 ◽  
pp. 36-49 ◽  
Author(s):  
Javier V. Gómez ◽  
Alberto Vale ◽  
Santiago Garrido ◽  
Luis Moreno
Keyword(s):  
Performance Analysis ◽  
Motion Planning ◽  
Mobile Robots ◽  
Autonomous Mobile Robots ◽  
Fast Marching
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