title: Constrained VPH+: a local path planning algorithm for a bio-inspired crawling robot with customized ultrasonic scanning sensor.
abstract: This paper aims to develop a local path planning algorithm for a bio-inspired, reconfigurable crawling robot. A detailed description of the robotic platform is first provided, and the suitability for deployment of each of the current state-of-the-art local path planners is analyzed after an extensive literature review. The Enhanced Vector Polar Histogram algorithm is described and reformulated to better fit the requirements of the platform. The algorithm is deployed on the robotic platform in crawling configuration and favorably compared with other state-of-the-art local path planning algorithms.
authors.affiliation: Temasek Laboratory, Singapore University of Technology and Design, 08 Somapah Road, Singapore, 487372 Singapore.
authors.forename: Akshay
authors.initials: A
authors.lastname: Rao
authors.affiliation: Temasek Laboratory, Singapore University of Technology and Design, 08 Somapah Road, Singapore, 487372 Singapore ; Engineering Product Design Pillar, Singapore University of Technology and Design, 08 Somapah Road, Singapore, 487372 Singapore.
authors.forename: Mohan Rajesh
authors.initials: MR
authors.lastname: Elara
authors.affiliation: Temasek Laboratory, Singapore University of Technology and Design, 08 Somapah Road, Singapore, 487372 Singapore.
authors.forename: Karthikeyan
authors.initials: K
authors.lastname: Elangovan
keywords: Biologically inspired robot; Local path planner; Multi-legged robot; Obstacle avoidance; Ultrasonic sensor