Abstract
This paper deals with the problem of motion planning for a mobile robot moving on a three dimensional terrain. The main contribution of this paper is a planning method which takes into account non-trivial features such as: robot dynamics, physical interaction between the robot and the terrain, no-collision and kinematic constraints. The basic idea of our method is to integrate geometric and physical models of the robot and the terrain in a two-stage trajectory planning process. This process combines a discrete search strategy and a continuous motion generation method which is based upon the control of the model of the robot. We will describe how each level operates and how they interact in order to generate a sequence of sub-trajectories. We will also show how both of the robot and the terrain are modelled, and how the interactions between them are dealt with and used during the motion generation.
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References
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© 1994 Springer-Verlag London Limited
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Cherif, M., Laugier, C., Milesi-Bellier, C., Faverjon, B. (1994). Combining physical and geometric models to plan safe and executable motions for a rover moving on a terrain. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027614
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DOI: https://doi.org/10.1007/BFb0027614
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