Path Planning for a Jumping Rover Team With a Charging Station in Multi-Waypoints Visiting Missions

摘要

This paper demonstrates an innovative group of robots, consisting of jumping rovers and a charging station, improved traversability and extended energy endurance when traveling to multiple target locations. By employing different jumping rovers with distinct energy consumption characteristics and jumping capabilities, we focus on searching for the most energy-efficient path of each jumping rover in a multi-waypoints visiting mission with obstacles. As jumping rovers can jump onto or over some obstacles without navigating around them, they have the potential to save energy by generating alternative paths to overcome obstacles. Moreover, due to the energy demands for the multi-waypoints mission and the limited battery capacity, a charging station is considered to provide extra energy for enhanced endurance during the mission. We first apply a refined rapidly-exploring random tree star (RRT∗) algorithm to find energy-efficient paths between any two target locations. Then, the genetic algorithm (GA) is applied to select the most profitable combination of paths to visit all targets with energy constraints. Finally, we verify the improved mobility and energy efficiency in both virtual simulation and experimental tests using a group of customized jumping rovers with a charging station and the proposed path planning and task allocation method.