Simple motion planning strategies for spherobot: a spherical mobile robot

Abstract

Mobile robots have been traditionally designed with wheels and few have explored designs with spherical exo-skeletons. A spherical mobile robot that offers to have a number of advantages, is proposed in the paper. The success of our design is contingent upon development of control strategies for reconfiguration of the sphere. We address the open-loop control problem and present two strategies for reconfiguration. The first strategy uses spherical triangles to bring the sphere to a desired position with a desired orientation. The second strategy uses a specific kinematic model and generates a trajectory comprising straight lines and circular arc segments. As compared to existing motion planners, our strategies require less computation and provide scope for easy implementation.