Motion and Operation Planning of Robotic Systems by Giuseppe Carbone & Fernando Gomez-Bravo

Author:Giuseppe Carbone & Fernando Gomez-Bravo
Language: eng
Format: epub
Publisher: Springer International Publishing, Cham

In the case that , this implies that the difficulty of the path will be determined by the height of every point of the mesh. In Fig. 25a, the path obtained when the height is penalised, without considering the roughness of the surface or its inclination, is presented. As can be observed, the calculated path will try to reach the final point passing trough the deepest part of the map.

On the other hand, if we decide to calculate the path penalising just the inclination of the surface, then the difficulty matrix is defined as . In this case, as shown in Fig. 25b, the path will follow the parts with smallest slope.

The general idea proposed in this section is the possibility of combining the different matrices in order to obtain a path that considers the height , the roughness , and the inclination of the surface, among others. In the previous figures, it can be observed that, for the selected initial and final points, the height matrix favour that the path goes all the way trying to avoid the highest parts of it. On the other hand, the gradient matrix favours the path with smallest slope. Therefore, we can select the values of each weight factor in order to consider the limitations or features of the robot used.

The final step is to propagate the wave using as refraction index the difficulty matrix from the goal point until it gets the present position of the robot and in this funnel shaped potential, the trajectory is calculated by using the gradient method.

Fig. 26Path calculated using a and when b in a mars map

Download

Copyright Disclaimer:
This site does not store any files on its server. We only index and link to content provided by other sites. Please contact the content providers to delete copyright contents if any and email us, we'll remove relevant links or contents immediately.