The Path Planning Method of Tensegrity Robot Based on A* Algorithm

Abstract

This paper presents a path planning method for the tensegrity robot with six struts (TR-6). For the most efficient rolling gait of tensegrity mobile robot, the rolling control research is adopted to be layered with path planning to carry out. In the robot rolling control level, the geometric structure characteristics of TR-6 are used fully. Through the rolling behavior of the drive control to realize path planning, strategy layer is called available. At the level of robot path planning, it is not necessary to pay much attention to the driver bottom control problem, so that the path planning algorithm can be simulated and verified. By simulation and experiment, the algorithm we proposed is proved effectively.