Fig. 6: Multi-modal probabilistic road map (MM-PRM) path planning with motion capture system.
From: Multi-Modal Mobility Morphobot (M4) with appendage repurposing for locomotion plasticity enhancement
a Shows the multi-modal path planning experiment performed inside a flight arena with motion capture cameras. In this experiment, the robot followed the path planning trajectory generated by the MM-PRM and A* algorithm to land on a 1.4 m tall platform. The robot started on the ground, drove to the UAS morphing location (1), transformed into the UAS mode (2), flew on top of the box (3 to 5), and transformed back into the UGV mode (6). b Illustrates the desired and actual trajectories.
