Affiliation:
1. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130025, China
2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
Abstract
Aimed at the difficulty of path planning resulting from the variable configuration of the wheel-legged robot for future deep space explorations, this paper proposes a path planning algorithm based on the Theta* algorithm and Timed Elastic Band (TEB) algorithm. Firstly, the structure of the wheel-legged robot is briefly introduced, and the workspace of a single leg is analyzed. Secondly, a method to judge complete obstacles and incomplete obstacles according to the height of the obstacles is proposed alongside a method to search for virtual obstacles, to generate a grid map of the wheel and a grid map of the body, respectively. By dividing obstacles into complete obstacles and incomplete obstacles, the path planning of the wheel-legged robot is split into the planning of the body path and the planning of the wheel path. The body can be still simplified as a point by searching for the virtual obstacle, which avoids the difficulty of a planning path of a variable shape. Then, we proposed hierarchical planning and multiple optimization algorithms for the body path and wheel path based on the Theta* algorithm and TEB algorithm. The path can be optimized and smoothed effectively to obtain a shorter length and higher safety. On that basis, the proposed algorithm is simulated by Matlab. The results of simulations show that the algorithm proposed in this paper can effectively plan the path of the wheel-legged robot by using variable configurations for different types of obstacles. The path-planning algorithm of the wheel-legged robot proposed in this paper has a broad prospect for deep space exploration.
Funder
National Natural Science Foundation of China
Subject
Physics and Astronomy (miscellaneous),General Mathematics,Chemistry (miscellaneous),Computer Science (miscellaneous)
Cited by
3 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献