DocumentCode :
3529463
Title :
Online motion planning for tethered robots in extreme terrain
Author :
Tanner, Melissa M. ; Burdick, Joel W. ; Nesnas, I.A.D.
Author_Institution :
Dept. of Mech. & Civil Eng., California Inst. of Technol., Pasadena, CA, USA
fYear :
2013
fDate :
6-10 May 2013
Firstpage :
5557
Lastpage :
5564
Abstract :
Several potentially important science targets have been observed in extreme terrains (steep or vertical slopes, possibly covered in loose soil or granular media) on other planets. Robots which can access these extreme terrains will likely use tethers to provide climbing and stabilizing force. To prevent tether entanglement during descent and subsequent ascent through such terrain, a motion planning procedure is needed. Abad-Manterola, Nesnas, and Burdick [1] previously presented such a motion planner for the case in which the geometry of the terrain is known a priori with high precision. Their algorithm finds ascent/descent paths of fixed homotopy, which minimizes the likelihood of tether entanglement. This paper presents an extension of the algorithm to the case where the terrain is poorly known prior to the start of the descent. In particular, we develop new results for how the discovery of previously unknown obstacles modifies the homotopy classes underlying the motion planning problem. We also present a planning algorithm which takes the modified homotopy into account. An example illustrates the methodology.
Keywords :
mobile robots; path planning; ascent-descent path; climbing force; extreme terrain; homotopy class; online motion planning; stabilizing force; terrain geometry; tether entanglement; tethered robots; Geometry; Marine vehicles; Mars; Mobile robots; Path planning; Planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
ISSN :
1050-4729
Print_ISBN :
978-1-4673-5641-1
Type :
conf
DOI :
10.1109/ICRA.2013.6631375
Filename :
6631375
Link To Document :
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