A Motion Planner for a Hybrid Robotic System with Kinodynamic Constraints

Publication Type:

Conference Paper

Authors:

Plaku, E.; Kavraki, L.E.; Vardi, M.Y.

Source:

IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, p.692--697 (2007)

URL:

http://www.kavrakilab.org/sites/default/files/PaperICRA_Hybrid-h.pdf

Keywords:

hybrid systems; kinodynamic/physics-based motion planning; path planning; project_Hybrid

Abstract:

The rapidly increasing complexity of tasks robotic systems are
expected to carry out underscores the need for the development of
motion planners that can take into account discrete changes in the
continuous motions of the system. Completion of tasks such as
exploration of unknown or hazardous environments often requires
discrete changes in the controls and motions of the robot in order to
adapt to different terrains or maintain operability during partial
failures or other mishaps.
The contribution of this work toward this objective is the development
of an efficient motion planner for a hybrid robotic system. The
controls and motion equations of the robot could change discretely in
order to enable the robot to operate in different terrains. The
framework in this paper blends discrete searching with sampling-based
motion planning for continuous state spaces and is well-suited for
robotic systems modeled as hybrid systems with numerous discrete modes
and transitions. This multi-layered approach offers considerable
improvements over existing methods addressing similar problems, as
indicated by the experimental results.