期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2021
卷号：18
期号：1
页码：1-14
DOI：10.1177/1729881421992958
出版社：SAGE Publications
摘要：This article proposes a modification of hybrid A* method used for navigation of spherical mobile robots with the ability of limited partial lateral movement driven by pendulum. For pendulum-driven spherical robots with nonzero minimal turning radius, our modification helps to find a feasible and achievable path, which can be followed in line with the low time cost. Because of spherical shell shape, the robot is point contact with the ground, showing different kinematic model compared with common ground mobile robots such as differential robot and wheeled car-like robot. Therefore, this article analyzes the kinematic model of spherical robot and proposes a novel method to generate feasible and achievable paths conforming to kinematic constraints, which can be the initial value of future trajectory tracking control and further optimization. A concept of optimal robot’s minimum area for rotation is also proposed to improve search efficiency and ensure the ability of turning to any orientation by moving forward and backward in a finite number of times within limited areas.
