# Configuration-Space Flipper Planning for Rescue Robots

## TL;DR

This paper introduces a novel configuration-space planning method for rescue robots with flippers, enabling autonomous navigation through complex terrains without relying on prior trail data.

## Contribution

It models robot states as a global path with scene parameters and demonstrates autonomous path following on a real robot, avoiding the need for old trail data.

## Key findings

- Successful path following on real robot
- Effective modeling of terrain configurations
- Demonstrated autonomous navigation capability

## Abstract

For rescue robots, flipper endows the robot with additional ability to pass through various terrain. Autonomous motion becomes more important. In recent work autonomy is done by either planning with several special states or based on collected data. We are considering if it is possible to find a way to build continues states without collecting old trail data. In this paper, we first model the possible states as a global planning path with parameter configuration of the scene. Then, we follows the path to achieve the autonomous run. We plot the morphology of each path points to show the correctness of the path and implement a simple path following on real robot to demonstrate the performance of our algorithm.