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

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