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RRT Path Planning and Morphological Segmentation Based Navigation for a Tetrapod Robot

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Ubiquitous Networking (UNet 2018)

Part of the book series: Lecture Notes in Computer Science ((LNCCN,volume 11277))

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Abstract

This article will establish the physical design of a tetrapod robot, highlighting its own characteristics of low-level three-dimensional movement to move from one point to another. The navigation system was also examined in environments not defined from a top-down perspective, making the analysis and processing of the images with the purpose of avoiding collisions between the robot and static obstacles, and using probabilistic techniques and partial information on the environment, RRT generate paths that are less artificial.

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Authors and Affiliations

  1. CICTE Research Center, Universidad de las Fuerzas Armadas ESPE, Sangolquí, Ecuador

    Wilbert G. Aguilar, Jessica Caballeros, David Segarra & Patricio Castro

  2. GREC Research Group, Universitat Politècnica de Catalunya, Barcelona, Spain

    Wilbert G. Aguilar

Authors
  1. Wilbert G. Aguilar
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  2. Jessica Caballeros
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  3. David Segarra
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  4. Patricio Castro
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Corresponding author

Correspondence to Wilbert G. Aguilar .

Editor information

Editors and Affiliations

  1. University of Carthage, Carthage, Tunisia

    Noureddine Boudriga

  2. King Abdullah University of Science and Technology, Thuwal, Saudi Arabia

    Mohamed-Slim Alouini

  3. University of Carthage, Carthage, Tunisia

    Slim Rekhis

  4. Hassan II University, Casablanca, Morocco

    Essaid Sabir

  5. KU Leuven, Leuven, Belgium

    Sofie Pollin

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Aguilar, W.G., Caballeros, J., Segarra, D., Castro, P. (2018). RRT Path Planning and Morphological Segmentation Based Navigation for a Tetrapod Robot. In: Boudriga, N., Alouini, MS., Rekhis, S., Sabir, E., Pollin, S. (eds) Ubiquitous Networking. UNet 2018. Lecture Notes in Computer Science(), vol 11277. Springer, Cham. https://doi.org/10.1007/978-3-030-02849-7_25

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  • DOI: https://doi.org/10.1007/978-3-030-02849-7_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-02848-0

  • Online ISBN: 978-3-030-02849-7

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