TY - GEN
T1 - Optimal Global Path Planning for Wheel-Legged Robot on Mountain Terrain
AU - Zhang, Yifan
AU - Liu, Hui
AU - Han, Lijin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Nowadays, motion performance of Wheel-legged robots has been significantly improved, meanwhile, the work scenarios and mission requirements are becoming more and more extensive, which puts higher demands on their autonomous capabilities. In the wild mountain environment, both robot power and traveling safety are important factors affecting the operation. Moreover, the large amount of known digital elevation map (DEM) data information and weather forecast information makes it possible to evaluate the energy efficiency and movement safety. Therefore, in addition to solving the traditional path length minimization, it is necessary to define path optimality for these two parameters separately. In this paper, we propose a global planning strategy based on Downward Project A∗ (DOP-A∗) algorithm for wheel-legged robots, which realizes the decrease of energy consumption and meteorological threat successfully. The simulation results demonstrate that three different optimal paths are generated by utilizing different efficiency or meteorological threat weight.
AB - Nowadays, motion performance of Wheel-legged robots has been significantly improved, meanwhile, the work scenarios and mission requirements are becoming more and more extensive, which puts higher demands on their autonomous capabilities. In the wild mountain environment, both robot power and traveling safety are important factors affecting the operation. Moreover, the large amount of known digital elevation map (DEM) data information and weather forecast information makes it possible to evaluate the energy efficiency and movement safety. Therefore, in addition to solving the traditional path length minimization, it is necessary to define path optimality for these two parameters separately. In this paper, we propose a global planning strategy based on Downward Project A∗ (DOP-A∗) algorithm for wheel-legged robots, which realizes the decrease of energy consumption and meteorological threat successfully. The simulation results demonstrate that three different optimal paths are generated by utilizing different efficiency or meteorological threat weight.
KW - DOP-A∗
KW - digital elevation map
KW - global path planning
KW - meteorological threat
KW - wheel-legged robot
UR - http://www.scopus.com/inward/record.url?scp=85190944800&partnerID=8YFLogxK
U2 - 10.1109/RICAI60863.2023.10488967
DO - 10.1109/RICAI60863.2023.10488967
M3 - Conference contribution
AN - SCOPUS:85190944800
T3 - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
SP - 153
EP - 157
BT - 2023 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Robotics, Intelligent Control and Artificial Intelligence, RICAI 2023
Y2 - 1 December 2023 through 3 December 2023
ER -
