Agile Legged-Wheeled Reconfigurable Navigation Planner Applied on the CENTAURO Robot
Vignesh Sushrutha Raghavan,Dimitrios Kanoulas,Darwin G. Caldwell,Nikos G. Tsagarakis,Vignesh Sushrutha Raghavan,Dimitrios Kanoulas,Darwin G. Caldwell,Nikos G. Tsagarakis
Hybrid legged-wheeled robots such as the CEN-TAURO, are capable of varying their footprint polygon to carry out various agile motions. This property can be advantageous for wheeled-only planning in cluttered spaces, which is our focus. In this paper, we present an improved algorithm that builds upon our previously introduced preliminary footprint varying A* planner, which was based on the rectangu...
