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Optimization-Based Planning for Autonomous Traversal of Obstacles with Mobile Ground Robots

Oehler, Martin and Kohlbrecher, Stefan and von Stryk, Oskar (2020):
Optimization-Based Planning for Autonomous Traversal of Obstacles with Mobile Ground Robots.
In: International Journal of Mechanics and Control, 21 (1), pp. 33-40. ISSN 1590-8844,
[Article]

Abstract

Mobile robotic platforms which are traversing unstructured environments with challenging uneven terrain are permanently endangered of falling over. Previous research on trajectory planning methods for the prevention of vehicle tip-over is mostly limited to basic mobility systems with only few degrees of freedom (DOF). This paper proposes a novel optimization-based planning approach that enables mobile robots to autonomously traverse obstacles and rough terrain more safely. A 3D world model as provided from external sensors like Lidar is used to compute a whole-body motion plan in advance by optimizing the trajectories of each joint. Active flipper tracks maximize ground contact for improved traction and, if available, manipulator arm joints are used to further improve stability metrics. Additional constraints prevent collisions with the environment and the robot itself. The presented approach makes only few assumptions about the robot’s configuration and is applicable to a wide range of wheeled or tracked platforms. This is demonstrated by experimental evaluation for two different robots in simulation and for one physical robot. In four different test scenarios it is shown, that the proposed approach effectively prevents vehicle tip-over during traversal of uneven ground.

Item Type: Article
Erschienen: 2020
Creators: Oehler, Martin and Kohlbrecher, Stefan and von Stryk, Oskar
Title: Optimization-Based Planning for Autonomous Traversal of Obstacles with Mobile Ground Robots
Language: English
Abstract:

Mobile robotic platforms which are traversing unstructured environments with challenging uneven terrain are permanently endangered of falling over. Previous research on trajectory planning methods for the prevention of vehicle tip-over is mostly limited to basic mobility systems with only few degrees of freedom (DOF). This paper proposes a novel optimization-based planning approach that enables mobile robots to autonomously traverse obstacles and rough terrain more safely. A 3D world model as provided from external sensors like Lidar is used to compute a whole-body motion plan in advance by optimizing the trajectories of each joint. Active flipper tracks maximize ground contact for improved traction and, if available, manipulator arm joints are used to further improve stability metrics. Additional constraints prevent collisions with the environment and the robot itself. The presented approach makes only few assumptions about the robot’s configuration and is applicable to a wide range of wheeled or tracked platforms. This is demonstrated by experimental evaluation for two different robots in simulation and for one physical robot. In four different test scenarios it is shown, that the proposed approach effectively prevents vehicle tip-over during traversal of uneven ground.

Journal or Publication Title: International Journal of Mechanics and Control
Journal volume: 21
Number: 1
Uncontrolled Keywords: emergenCITY_CPS
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
LOEWE
LOEWE > LOEWE-Zentren
LOEWE > LOEWE-Zentren > emergenCITY
Date Deposited: 07 Jul 2020 09:34
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