障害物環境におけるヘビ型ロボットのモデリングと経路計画
Modelling and Path Planning of Snake Robot in cluttered environment
粘性摩擦モデルで障害物との接触力を表現する数理モデルを構築し、目標到達に必要な接触を確保する最短経路を導く運動計画法を提案、シミュレーションと実験で検証した。
著者: Akash Singh, Chaohui Gong, Howie Choset
分類: cs.RO
原文アブストラクト
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact positions. We present a unique mathematical model of the robot interacting with obstacles in which the contact forces are mapped on the basis of a viscous friction model. Also a motion planning strategy has been introduced which helps deriving the simplest path that ensures sufficient number of contacts of the robot with the obstacles required to reach a goal position. Numerical simulations and experimental results are presented to validate the theoretical approach.
