| Summary: | 碩士 === 國立雲林科技大學 === 資訊工程研究所 === 99 === Abstract- This thesis proposes a novel geometric based path planning algorithm for 3-leg free-climbing robots. The algorithm consists of global path planner and local motion planner. The global path planner plans a trajectory which is a sequence of Delaunay triangles composed of 3 climbing points. Then, the motion planner plans the transition configurations between two adjacent triangles of the trajectory. The proposed algorithm plans four basic configurations: the start configuration, the intermediate configuration, the intermediate-goal configuration and the final configuration. More configurations can be obtained by linear interpolation.
Since the proposed algorithm directly uses spatial occupancy information of the workspace to plan a path, it is more efficient than configuration-space based approaches. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance.
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