Trajectory Optimization Formulation with Smooth Analytical Derivatives for Track-leg and Wheel-leg Ground Robots
Adwait Mane,Dylan Swart,Jason White,Christian Hubicki,Adwait Mane,Dylan Swart,Jason White,Christian Hubicki
Tracks, wheels, and legs are all useful locomotion modes for Unmanned Ground Vehicles (UGVs), and ground robots that combine these mechanisms have the potential to climb over large obstacles. As robot morphologies include more degrees of freedom and obstacles become increasingly large and complex, UGVs will need to rely on automatic motion planning to compute the joint trajectories for traversal. ...
