TY - GEN
T1 - A MPC-based Planner Applied on a Parallel Wheel-legged Robot for Obstacle Avoidance
AU - Guo, Fei
AU - Yu, Huan
AU - Lin, Wanhong
AU - Wang, Shoukun
N1 - Publisher Copyright:
© 2025 Copyright held by the owner/author(s)
PY - 2025/6/2
Y1 - 2025/6/2
N2 - A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive Control(MPC)based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.
AB - A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive Control(MPC)based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.
KW - Reconfigurable robot
KW - Trajectory planning
KW - Wheel-legged robot
UR - https://www.scopus.com/pages/publications/105021311457
U2 - 10.1145/3727648.3727737
DO - 10.1145/3727648.3727737
M3 - Conference contribution
AN - SCOPUS:105021311457
T3 - Proceedings of the 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
SP - 545
EP - 552
BT - Proceedings of the 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
PB - Association for Computing Machinery, Inc
T2 - 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
Y2 - 10 January 2025 through 12 January 2025
ER -