Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg-Wheel Planetary Exploration Rover
Dynamic Simulation-Based Action Planner for a Reconfigurable Hybrid Leg-Wheel Planetary Exploration Rover
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DOI：
10.1163/016918610x501499
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发表时间：
2010-01-01
影响因子：
2
通讯作者：
Yoshida, Kazuya
中科院分区：
文献类型：
--
作者：
Rohmer, Eric;Reina, Giulio;Yoshida, Kazuya
提出了一种可重构混合式腿轮移动机器人的动作规划算法。腿轮混合机器人最近在探索行星方面受到了航天界越来越大的兴趣，因为它们提供了一种解决方案，可以提高在不平坦地形上的速度和机动性。与它们相关的一个关键问题是研究一种适当的策略来定义何时使用一种而不是另一种运动模式，这取决于土壤性质和拓扑结构。尽管这一步骤对于充分发挥混合机制的潜力至关重要，但很少有人关注这一主题。给定环境的高程图，我们开发了一个行动计划器，可以沿着最佳路径选择合适的运动模式，朝向科学兴趣点。该工具有助于航天任务团队在探索过程中决定机器人的下一步行动。首先，根据拓扑和规范的标准函数生成候选路径。然后，根据机器人在每种运动模式下的表现，在此路径上定义切换动作。最后，利用动态仿真器对路径进行能量分布评估。通过大量的仿真和实际实验，将该方法应用于行星探测可重构混合轮腿机器人的概念样机。(C)中国机械工程研究院，2010
In this paper, an action planning algorithm is presented for a reconfigurable hybrid leg-wheel mobile robot. Hybrid leg-wheel robots have recently receiving growing interest from the space community to explore planets, as they offer a solution to improve speed and mobility on uneven terrain. One critical issue connected with them is the study of an appropriate strategy to define when to use one over the other locomotion mode, depending on the soil properties and topology. Although this step is crucial to reach the full hybrid mechanism's potential, little attention has been devoted to this topic. Given an elevation map of the environment, we developed an action planner that selects the appropriate locomotion mode along an optimal path toward a point of scientific interest. This tool is helpful for the space mission team to decide the next move of the robot during the exploration. First, a candidate path is generated based on topology and specifications' criteria functions. Then, switching actions are defined along this path based on the robot's performance in each motion mode. Finally, the path is rated based on the energy profile evaluated using a dynamic simulator. The proposed approach is applied to a concept prototype of a reconfigurable hybrid wheel-leg robot for planetary exploration through extensive simulations and real experiments. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010