Configuration-Space Flipper Planning on 3D Terrain

Autonomous run is always a goal in the field of rescue robot and the utilization of flipper will strongly improve the mobility and safety of robot. In this work, we simplify the rescue robot as a skeleton on inflated terrain. Its morphology can be represented by configuration of several parameters. Based on our previous paper, we further configure four flippers individually. The proposed flipper planning is of a mobile movement on 3D terrain with 2.5D maps. The experiment shows that our method can well tackle various terrain and have high efficiency on manipulating the flippers.