Oehler, Martin ; Kohlbrecher, Stefan ; Stryk, Oskar von (2019)
Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots.
International Conference on Robotics in Alpe-Adria Danube Region. Kaiserslautern (19.06.2019-21.06.2019)
doi: 10.1007/978-3-030-19648-6_29
Konferenzveröffentlichung, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
A common challenge for autonomous mobile ground robots in unstructured environments is the traversal of obstacles without risking to tip over. Previous research on prevention of vehicle tip-over is mostly limited to basic mobility systems with only few degrees of freedom (DOF). In this paper, a novel whole-body motion planning approach is presented. Based on a 3D world model and a given planned path, the trajectories of all joints are optimized to maximize robot stability. The resulting motion plan allows the robot to cross obstacles without tipping over. Compared to existing approaches, the proposed approach considers environment- and self-collisions during planning. Few assumptions about the robot configuration are made which enables the adoption to different mobile platforms. This approach is evaluated for a simulated and a real robot. The platform is a tracked vehicle with adjustable flippers and a five DOF manipulator arm. In several test scenarios, it is shown that the proposed approach effectively prevents tip-over and increases robot stability.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2019 |
| Autor(en): | Oehler, Martin ; Kohlbrecher, Stefan ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots |
| Sprache: | Englisch |
| Publikationsjahr: | 2019 |
| Ort: | Cham, Switzerland |
| Verlag: | Springer |
| Buchtitel: | Advances in Service and Industrial Robotics |
| Reihe: | Advances in Intelligent Systems and Computing |
| Veranstaltungstitel: | International Conference on Robotics in Alpe-Adria Danube Region |
| Veranstaltungsort: | Kaiserslautern |
| Veranstaltungsdatum: | 19.06.2019-21.06.2019 |
| DOI: | 10.1007/978-3-030-19648-6_29 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | A common challenge for autonomous mobile ground robots in unstructured environments is the traversal of obstacles without risking to tip over. Previous research on prevention of vehicle tip-over is mostly limited to basic mobility systems with only few degrees of freedom (DOF). In this paper, a novel whole-body motion planning approach is presented. Based on a 3D world model and a given planned path, the trajectories of all joints are optimized to maximize robot stability. The resulting motion plan allows the robot to cross obstacles without tipping over. Compared to existing approaches, the proposed approach considers environment- and self-collisions during planning. Few assumptions about the robot configuration are made which enables the adoption to different mobile platforms. This approach is evaluated for a simulated and a real robot. The platform is a tracked vehicle with adjustable flippers and a five DOF manipulator arm. In several test scenarios, it is shown that the proposed approach effectively prevents tip-over and increases robot stability. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Aug 2019 06:05 |
| Letzte Änderung: | 29 Mai 2024 09:48 |
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| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
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Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots. (deposited 24 Jun 2019 13:15)
- Whole-Body Planning for Obstacle Traversal with Autonomous Mobile Ground Robots. (deposited 20 Aug 2019 06:05) [Gegenwärtig angezeigt]
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