Agile Legged-Wheeled Reconfigurable Navigation Planner applied on the CENTAURO Robot

Title: Agile Legged-Wheeled Reconfigurable Navigation Planner applied on the CENTAURO Robot

Authors: Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, Nikos G. Tsagarakis

Conference: IEEE International Conference on Robotics and Automation (ICRA), 2020

PDF: www.researchgate.net/publication/339541045_Agile_L…

Description: This video presents simulations and experiments highlighting the functioning of the proposed Trapezium Line Theta* planner, as well as its improvements over our previous work namely the Obstacle Negotiating A* planner. First, we briefly present a comparison of our previous and new planners. We then show two simulations. The first shows the robot traversing an inclined corridor to reach a goal near the low-lying obstacle. This demonstrates the omnidirectional and any-angle motion planning improvement achieved by the new planner, as well as the independent planning for the front and back wheel pairs. The second simulation further demonstrates the key improvements mentioned above by having the robot traverse tight right-angled corridors. Finally, we present two real experiments on the CENTAURO robot. In the first experiment, the robot has to traverse into a narrow passage and then expand over a low lying obstacle. The second experiment has the robot first expand over a wide obstacle and then move into a narrow passage.