Download PDFOpen PDF in browserA Hybrid Primitive-Based Planner for Autonomous Navigation with CENTAURO RobotEasyChair Preprint 93523 pages•Date: November 22, 2022AbstractWheeled-legged robots have the ability to navigate in cluttered and irregular environments adapting the locomotion mode to the terrain perceived. To achieve this functionality, a locomotion planner is needed. In this work we present a hybrid search-based planner, which considers a set of modifiable motion primitives and a 2.5D traversability map acquired from the environment to generate navigation plans for the hybrid mobility robot CENTAURO. Our approach was validated in simulation and on the real wheeled-legged robot CENTAURO, demonstrating traversing capabilities in cluttered environments with various obstacles. Keyphrases: Legged robots, Motion and Path Planning, Sensor-based Control
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