Configuration-Space Flipper Planning for Rescue Robots

doi:10.1109/SSRR.2019.8848978

	Configuration-Space Flipper Planning for Rescue Robots
	Yuan, Yijun; Wang, Letong; Schwertfeger, Sören
	2019
会议录名称	2019 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS, SSRR 2019
页码	36-42
发表状态	已发表
DOI	10.1109/SSRR.2019.8848978
摘要	For rescue robots, flippers endow the robot with additional ability to pass through various terrain. Also, autonomous capabilities become more important, especially with respect to autonomous motion including flippers. In recent work, autonomy for flippers is done by either planning with several special states or based on collected data. We are considering if it is possible to find a way to build continuous states without collecting old trail data. In this paper, we first model the possible states as a global planning path with parameter configuration of the scene. Then, we follow the path to achieve the autonomous run. We plot the morphology of each path points to show the correctness of the path and implement a simple path following on real robot to demonstrate the performance of our algorithm. © 2019 IEEE.
会议地点	Wurzburg, Germany
收录类别	EI ; CPCI ; CPCI-S
出版者	Institute of Electrical and Electronics Engineers Inc.
EI入藏号	20194207560175
EI主题词	Robotics ; Robots
EI分类号	Robotics:731.5
原始文献类型	Conference article (CA)
引用统计
文献类型	会议论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/80565
专题	信息科学与技术学院_本科生信息科学与技术学院_PI研究组_Sören Schwertfeger组信息科学与技术学院_硕士生
通讯作者	Yuan, Yijun
作者单位	School of Information Science and Technology, ShanghaiTech University, China
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Yuan, Yijun,Wang, Letong,Schwertfeger, Sören. Configuration-Space Flipper Planning for Rescue Robots[C]:Institute of Electrical and Electronics Engineers Inc.,2019:36-42.