A Hybrid Primitive-Based Navigation Planner for the Wheeled-Legged Robot CENTAURO
Alessio De Luca,Luca Muratore,Nikos G. Tsagarakis,Alessio De Luca,Luca Muratore,Nikos G. Tsagarakis
Wheeled-legged robots have the potential to navigate in cluttered and irregular scenarios by altering the locomotion modes to adapt to the terrain challenges and effectively reach targeted locations in unstructured spaces. To achieve this functionality, a hybrid locomotion planner is necessary. In this work we present a search-based planner, which explores a set of motion primitives and a 2.5D tra...
