Improved hybrid A* path planning method for spherical mobile robot based on pendulum

International Journal of Advanced Robotic Systems

article

Ziang Zhang¹  Yixu Wan¹  You Wang¹  Xiaoqing Guan¹  Wei Ren¹  Guang Li¹ 

[1] State Key Laboratory of Industrial Control Technology, Institute of Cyber Systems and Control Yuquan Campus, Zhejiang University

关键词: Spherical robot;    navigation;    nonholonomic robot;    heuristic planning;    path finding;   

DOI  :  10.1177/1729881421992958

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.

【 授权许可】

CC BY