Feedback motion planning for teyhered mobile robots

Abstract

In this report titled Feedback motion planning for tethered mobile robots, we employ many concepts in order to arrive at a methodology by which path planning of tethered robots can be achieved using feedback. These concepts include constructing a map of the encountered homotopic classes in our environment, building an augmented and tether aware virtual potential field that is responsible for both the advancement towards the goal and the retraction to the anchor of the tether, and the use of path shortening and length calculation algorithms. For the purpose of simplicity, our approach is only limited to the cases where there is no tether crossing while being wrapped around an obstacle. A discrete implementation of the suggested strategy using wavefront planner is presented as a proof of concept.