Path Planning for Air-Ground Robot Considering Modal Switching Point Optimization

运动规划 机器人 计算机科学 敏捷软件开发 高效能源利用 软件部署 模拟 实时计算 工程类 人工智能 操作系统 软件工程 电气工程
作者
Xiaoyu Wang,Kangyao Huang,Xinyu Zhang,Honglin Sun,Wenzhuo Liu,Huaping Liu,Jun Li,Pingping Lu
标识
DOI:10.1109/icuas57906.2023.10156162
摘要

An innovative sort of mobility platform that can both drive and fly is the air-ground robot. The need for an agile flight cannot be satisfied by traditional path planning techniques for air-ground robots. Prior studies had mostly focused on improving the energy efficiency of paths, seldom taking the seeking speed and optimizing take-off and landing places into account. A robot for the field application environment was proposed, and a lightweight global spatial planning technique for the robot based on the graph-search algorithm taking mode switching point optimization into account, with an emphasis on energy efficiency, searching speed, and the viability of real deployment. The fundamental concept is to lower the computational burden by employing an interchangeable search approach that combines planar and spatial search. Furthermore, to safeguard the health of the power battery and the integrity of the mission execution, a trap escape approach was also provided. Simulations are run to test the effectiveness of the suggested model based on the field DEM map. The simulation results show that our technology is capable of producing finished, plausible 3D paths with a high degree of believability. Additionally, the mode-switching point optimization method efficiently identifies additional acceptable places for mode switching, and the improved paths use less time and energy.
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