Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00194431" target="_blank" >RIV/68407700:21230/12:00194431 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Motion Planning of Self-reconfigurable Modular Robots Using Rapidly Exploring Random Trees
Original language description
Motion planning of self-reconfigurable robots in an environment is a challenging task. In this paper, we propose a sampling-based motion planning approach to plan locomotion of an organism with many degrees of freedom. The proposed approach is based on the Rapidly Exploring Random tree algorithm, which uses physical simulation to explore the configuration space of the highly articulated robots. Due to large number of actuators in such organisms, a novel randomized strategy for generating input signals is proposed. We demonstrate the performance of the proposed planner on a set of complex robots moving on a plane as well as on a rough surface.
Czech name
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Czech description
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Project
<a href="/en/project/7E11017" target="_blank" >7E11017: Symbiotic Evolutionary Robot Organisms</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Joint Proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress
ISBN
978-3-642-32526-7
ISSN
0302-9743
e-ISSN
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Number of pages
12
Pages from-to
279-290
Publisher name
Springer
Place of publication
Dordrecht
Event location
Bristol
Event date
Aug 20, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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