Optimal Path Planning of Quadruped Robot on an Indeterminacy Terrain

• Main Authors: Ei-Chao Wang, 王奕超
• Other Authors: Pi-Ying Cheng
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/49423627635910477796

碩士 === 國立交通大學 === 機械工程系所 === 96 === The study proposed a novel path planning method for multilink robot walking on an indeterminacy terrain. The proposed method is based on the methodology of River-stone terrain trajectory planning method (provided by CIDM Lab.) and recruit Probabilistic Roadmap Method(PRM),Dijkstra shortest path planning searching Method etc. to develop a Matlab based Optimal path planning system with GUI interface. First of all, the robot configuration on a current terrain will be transfered into two to three more dimensional configuration space with obstacle marked area. Then the PRM path searching processes (including learning and query stages etc.) is modified by introducing the Dijkstra method to develop an auto planning software for generating an optimal path in predefined “n” dimensional configuration space. The free or obstacle avoiding path planning of two and three DOF robots have been solved by propose method as examples for demonstrating its practical performance. The current method has also been applied to generate the three variables quadruped robot motion planning task. The referenced simulation data have aproved that the helpful contribution on behalf of the proposed method. Keywords: Quadruped robot, Configuration space, Path planning, Dijkstra's algorithm, PRM