tethered robot ICRA dcapdf系绳机器人.pdfVIP

Path Planning for a Tethered Mobile Robot Soonkyum Kim Subhrajit Bhattacharya Vijay Kumar Abstract— In this paper we investigate the problem of nav- Reachable workspace igation for a planar mobile robot tethered to a base by a in absence of obstacles flexible cable of length . Obstacles present in the environment, O2 Reachable coupled with the cable length constraint, makes the problem O1 workspace highly non-trivial. We adopt a topological approach along with in presence of obstacles graph search-based techniques to solve this problem, wherein Robot we use the notion of a homotopy augmented graph to capture L Cable the information about the homotopy class of the cable. This lets us plan traversable optimal trajectories from an initial robot position and cable configuration to a final position of the robot. We demonstrate the algorithm by planning trajectories in