Autonomous navigation for reconfigurable snake-like robots in challenging, unknown environments

Pfotzer, L.; Klemm, Sebastian; Roennau, Arne; Zöllner, J. Marius; Dillmann, Rüdiger

doi:10.1016/j.robot.2016.11.010

Cited by 40 publications

(26 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although, these robots were not modifying their support polygon, they were always avoiding obstacles rather than negotiating them. Studies such as [13] (using A*) and [14] presented methods to take advantage of the snake-like nature of some robots, to plan for re-configuring the robot polygon for obstacles avoidance.…”

Section: Related Workmentioning

confidence: 99%

Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot

Raghavan

Kanoulas

Caldwell

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

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.

show abstract

Section: Related Workmentioning

confidence: 99%

Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot

Raghavan

Kanoulas

Caldwell

et al. 2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

show abstract

“…Due to the advanced of micro-technology, recent researches proposed various hybrid models using wheels and inchworm design. Practical experiments indicate the adaption of those hybrid models in distinct pipe systems [18][19][20][21].…”

Section: Shape and Sizementioning

confidence: 99%

Multi‐sensors in‐line inspection robot for pipe flaws detection

Chen

Rajkumar

2020

IET Science, Measurement & Technology

View full text Add to dashboard Cite

“…While the polygon shape is changed to get through narrow spaces, the planner only avoided obstacles obstructing the floor space by going around them. In [16], a snake-like robot was used to climb stairs or reshape to move around objects, taking advantage of its modular multi-part nature. A "follow the leader module" approach and a computationally rather heavy 6DoF manipulator RRT* planner was used.…”

Section: Related Workmentioning

confidence: 99%

Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot

Raghavan

Kanoulas

Laurenzi

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

Hybrid legged-wheeled robots are able to adapt their leg configuration and height to vary their footprint polygons and go over obstacles or traverse narrow spaces. In this paper, we present a variable configuration wheeled motion planner based on the A* algorithm. It takes advantage of the agility of hybrid wheeled-legged robots and plans paths over low-lying obstacles and in narrow spaces. By imposing a symmetry on the robot polygon, the computed plans lie in a low-dimensional search space that provides the robot with configurations to safely negotiate obstacles by expanding or shrinking its footprint polygon. The introduced autonomous planner is demonstrated using simulations and real-world experiments with the CENTAURO robot.

show abstract

Autonomous navigation for reconfigurable snake-like robots in challenging, unknown environments

Cited by 40 publications

References 8 publications

Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot

Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot

Multi‐sensors in‐line inspection robot for pipe flaws detection

Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot

Contact Info

Product

Resources

About