Kinematic modeling and hybrid motion planning for wheeled-legged rovers to traverse challenging terrains
Bike Zhu,
Jun He,
Jiaze Sun
Abstract:This paper presents a kinematics modeling and hybrid motion planning framework for wheeled-legged rovers. It is a unified solution for wheeled-legged rovers to traverse multiple challenging terrains using hybrid locomotion. A kinematic model is first established to describe the rover’s motions. Then, a hybrid motion planning framework is proposed to determine the rover’s gait patterns and parameterize the legs’ and the body’s trajectories. Furthermore, an optimization algorithm based on B-spline is utilized to… Show more
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