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Proceedings Paper

Experimental verification of distance and energy optimal motion planning on a skid-steered platform
Author(s): James Pace; Mario Harper; Camilo Ordonez; Nikhil Gupta; Aneesh Sharma; Emmanuel G. Collins Jr.
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Paper 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.

Paper Details

Date Published: 5 May 2017
PDF: 8 pages
Proc. SPIE 10195, Unmanned Systems Technology XIX, 1019506 (5 May 2017); doi: 10.1117/12.2262921
Show Author Affiliations
James Pace, Florida State Univ. (United States)
Mario Harper, Florida State Univ. (United States)
Camilo Ordonez, Florida State Univ. (United States)
Nikhil Gupta, Florida State Univ. (United States)
Aneesh Sharma, Florida State Univ. (United States)
Emmanuel G. Collins Jr., Florida State Univ. (United States)

Published in SPIE Proceedings Vol. 10195:
Unmanned Systems Technology XIX
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Hoa G. Nguyen, Editor(s)

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