Motion planning of legged vehicles in an unstructured environment
A planner for statically-stable motion of a legged robotic vehicle over an uneven terrain is presented that can plan the footplacement of individual legs for highly cluttered terrain. A method for determining the traversability over a generic discretised height map terrain is presented. Planning is broken into two levels of refinement to reduce the overall complexity and incorporates a number of heuristics. The planner has successfully planned the motion of 6 and 8 legged configurations of the Xerox PARC PolyBot modular reconfigurable robot as well as the CMU Ambler in simulation over arbitrarily complex terrain. A distributed implementation of the planner has also been shown on PolyBot's distributed computational platform.
Eldershaw, C. ; Yim, M. H. Motion planning of legged vehicles in an unstructured environment. IEEE International Conference on Robotics and Automation (ICRA 2001); 2001 May 21-26; Seoul, Korea. Piscataway, NJ: IEEE; 2001; 4: 3383-3389.