Experimental verification of distance and energy optimal motion planning on a skid-steered platform

James Pace; Mario Harper; Camilo Ordonez; Nikhil Gupta; Aneesh Sharma; Emmanuel G. Collins Jr.

doi:10.1117/12.2262921

5 May 2017 Experimental verification of distance and energy optimal motion planning on a skid-steered platform

James Pace, Mario Harper, Camilo Ordonez, Nikhil Gupta, Aneesh Sharma, Emmanuel G. Collins Jr.

Proceedings Volume 10195, Unmanned Systems Technology XIX; 1019506 (2017) https://doi.org/10.1117/12.2262921
Event: SPIE Defense + Security, 2017, Anaheim, CA, United States

Abstract

Mobile robots operating in the field need to be aware of the terrain and use this information to select the proper motion planning modality. For example, in very benign terrain it might be desirable to navigate to a goal following the shortest path. However, on challenging terrains, such maneuvers may be prohibitively expensive in terms of energy consumption. This paper summarizes field experiment results corresponding to a comparison between distance optimal and energy optimal motion planning for a skid-steered robot on different terrains. The results show that on average there is substantive energy savings associated with energy optimal motion planning.

Citation Download Citation

James Pace, Mario Harper, Camilo Ordonez, Nikhil Gupta, Aneesh Sharma, and Emmanuel G. Collins Jr. "Experimental verification of distance and energy optimal motion planning on a skid-steered platform", Proc. SPIE 10195, Unmanned Systems Technology XIX, 1019506 (5 May 2017); https://doi.org/10.1117/12.2262921

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