A kyno-dynamic metric to plan stable paths over uneven terrain

Miró, JV; Dumonteil, G; Beck, C; Dissanayake, G

A kyno-dynamic metric to plan stable paths over uneven terrain

Miró, JV

Dumonteil, G Beck, C Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 294 - 299
Issue Date:: 2010-12-01

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Field	Value	Language
dc.contributor.author	Miró, JV https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Dumonteil, G	en_US
dc.contributor.author	Beck, C	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date.issued	2010-12-01	en_US
dc.identifier.citation	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, 2010, pp. 294 - 299	en_US
dc.identifier.isbn	9781424466757	en_US
dc.identifier.uri	http://hdl.handle.net/10453/16220
dc.description.abstract	A generic methodology to plan increasingly stable paths for mobile platforms travelling over uneven terrain is proposed in this paper. This is accomplished by extending the Fast Marching level-set method of propagating interfaces in 3D lattices with an analytical kyno-dynamic metric which embodies robot stability in the given terrain. This is particularly relevant for reconfigurable platforms which significantly modify their mass distribution through posture adaptation, such as robots equipped with manipulator arms or varying traction arrangements. Results obtained from applying the proposed strategy in a mobile rescue robot operating on simulated and real terrain data illustrate the validity of the proposed strategy. ©2010 IEEE.	en_US
dc.relation.ispartof	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings	en_US
dc.relation.isbasedon	10.1109/IROS.2010.5650042	en_US
dc.title	A kyno-dynamic metric to plan stable paths over uneven terrain	en_US
dc.type	Conference Proceeding
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
dc.location.activity	Taipei, Taiwan	en_US
dc.location.activity	Taipei, TAIWAN
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

A generic methodology to plan increasingly stable paths for mobile platforms travelling over uneven terrain is proposed in this paper. This is accomplished by extending the Fast Marching level-set method of propagating interfaces in 3D lattices with an analytical kyno-dynamic metric which embodies robot stability in the given terrain. This is particularly relevant for reconfigurable platforms which significantly modify their mass distribution through posture adaptation, such as robots equipped with manipulator arms or varying traction arrangements. Results obtained from applying the proposed strategy in a mobile rescue robot operating on simulated and real terrain data illustrate the validity of the proposed strategy. ©2010 IEEE.

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http://hdl.handle.net/10453/16220