基于生物启发的飞滚多模态球形机器人路径规划方法OA

The multimodal flying-rolling spherical robot(flying-rolling robot,FRR)combines aerial flight and ground rolling capabilities,showing strong potential in search and rescue,inspection and reconnaissance tasks.However,autonomous navigation in indoor environments remains challenging due to the complexity of environment modeling and insufficient path planning efficiency.Inspired by biological systems that achieve efficient locomotion through environment simplification and energy trade-offs,this paper proposes a multimodal path planning method for FRRs based on a hierarchical grid map.A hierarchical grid map composed of a building-structure layer and an obstacle layer is constructed to efficiently represent key elements of indoor environments.An improved Jump A* al-gorithm is then designed,where jump point search is used to plan ground rolling paths on the building-structure layer,while A* search is applied to plan aerial flight paths on the obstacle layer.An energy consumption term is in-troduced into the cost function,enabling a trade-off between path length and energy expenditure via tunable weights.Experimental results demonstrate that the proposed method can effectively construct a hierarchical grid map for indoor environments,and enables multimodal path planning on this map according to different distance and energy consumption objectives,providing a feasible solution for the autonomous navigation of FRR in complex indoor scenarios.