Abstract
This letter proposes the use of a polygon-based random tree path planning algorithm for a variable geometry topology system (VGT). By combining a path planning algorithm and our previous non-impact locomotion algorithm, the proposed VGT system reaches an objective point. The proposed path planning algorithm provides the desired set of support polygons with a modified rapid random tree algorithm. The algorithm can significantly reduce distortion of the VGT system while moving by limiting the deformation of the desired support polygon. With this algorithm feature, constraint violations of the system were significantly reduced with respect to using a normal rapid random tree algorithm for path planning. The performance of the algorithm was validated using the simulation results.
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