Path Planning Algorithm for a Wheel-Legged Robot Based on the Theta* and Timed Elastic Band Algorithms

Path Planning Algorithm for a Wheel-Legged Robot Based on the Theta* and Timed Elastic Band Algorithms

Aimed at the difficulty of path planning resulting from the variable configuration of the wheel-legged robot for future deep space explorations, this paper proposes a path planning algorithm based on the Theta* algorithm and Timed Elastic Band (TEB) algorithm. Firstly, the structure of the wheel-leg...

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Bibliographic Details
Main Authors: Junkai Sun, Zezhou Sun, Pengfei Wei, Bin Liu, Yaobing Wang, Tianyi Zhang, Chuliang Yan
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Symmetry
Subjects:
deep space exploration
wheel-legged robot
path planning
Theta* algorithm
Timed Elastic Band
Online Access:https://www.mdpi.com/2073-8994/15/5/1091

Internet

https://www.mdpi.com/2073-8994/15/5/1091

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