The optimal traverse of irregular terrains made by ground mobile robots heavily depends on the adequacy of the cost models used to plan the path they follow. The criteria to define optimality may be based on minimizing energy consumption and/or preserving the robot stability. This entails the proper assessment of anisotropy to account for the robot driving on top of slopes with different directions. To fulfill this demand, this paper presents the Continuous Anisotropic Model for Inclined Surfaces, a cost model compatible with anisotropic path planners like the bi-directional Ordered Upwind Method. This model acknowledges how the orientation of the robot with respect to any slope determines its energetic cost, considering the action of gravity and terramechanic effects such as the slippage. Moreover, the proposed model can be tuned to define a trade-off between energy minimization and Roll angle reduction. The results from two simulation tests demonstrate how, to find the optimal path in scenarios containing slopes, in certain situations the use of this model can be more advantageous than relying on isotropic cost functions. Finally, the outcome of a field experiment involving a skid-steering robot that drives on top of a real slope is also discussed.
翻译:由地面移动机器人制造的不规则地形的最佳偏差,很大程度上取决于用于规划其路径的成本模型是否充足。确定最佳性的标准可能以尽量减少能源消耗和/或维护机器人稳定性为基础。这需要适当评估抗生素,以计算在斜坡上以不同方向驾驶的机器人。为了满足这一需求,本文件介绍了“离子表面连续非尼斯热带模型”,这是一个与双向有秩序上风法等厌养路径规划器相兼容的成本模型。这一模型承认了机器人在任何斜坡上的方向如何决定其高能成本,同时考虑到重力作用和滑坡等地形机能效应。此外,拟议的模型可以调整,以界定在最小化能源和减速角度之间取舍。两个模拟试验的结果表明,在某些情况下,在包含斜坡的情景中找到最佳路径,使用这一模型比依赖单向成本功能更有利。最后,涉及滑坡式机器人运动的实地实验结果也在顶部讨论。