Local trajectory generation for hopping robots exploring celestial bodies

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2019

Autores

Upadhyay, S (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: AIAA Scitech 2019 Forum

AIAA Scitech Forum, 2019

7 January 2019 through 11 January 2019

Indexação

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-00Q-VEP

DOI: 10.2514/6.2019-1913

Abstract (EN): We consider the problem of generating maximum height constrained trajectories with minimum launching speed for hopping robots exploring celestial bodies. The hopping robot should satisfy a maximum height constraint to ensure a damage-free landing and a minimum launching speed to minimize propulsion energy expenditure in each hop. We propose a ballistic motion based multi-hop trajectory planning method that generates a feasible trajectory connecting a given set of waypoints with accuracy. The proposed approach is based on a simple closed-form condition specifying minimum number of hops for feasible trajectory generation. Simulations are carried out to validate the analytical findings.

Idioma: Inglês

Tipo (Avaliação Docente): Científica