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

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• 作者：L. Pfotzer ; ^{pfotzer@fzi.de}Author Vitae ; S. Klemm ^klemm@fzi.deAuthor Vitae ; A. Roennau ^{roennau@fzi.de}Author Vitae ; J.M. Zö ; llner ^{zoellner@fzi.de}Author Vitae ; R. Dillmann ^{dillmann@fzi.de}Author Vitae
• 关键词：Snake-Like robot ; Autonomous navigation ; Motion planning ; Reconfiguration ; Unstructured environment ; Stair climbing
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：89
• 期：Complete
• 页码：123-135
• 全文大小：2772 K
• 卷排序：89

文摘

Fully integrated path and motion planning approach for modular reconfigurable robots. Planning system adapts itself to different robot configurations. Consideration of different capabilities for overcoming obstacles. Newly introduced Secondary Nearest Neighbor (SNN) space extends the RRT* algorithm.