Tension-Aware Motion Planning for Tethered Robots

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This paper presents a path-planning approach for tethered robots. The proposed planner finds paths that minimize the tether tension due to tether–obstacle and tether–floor interaction. The method assumes that the tether is managed externally by a tether management system and pulled by the robot. The planner is initially formulated for ground robots in a 2D environment and then extended for 3D scenarios, where it can be applied to tethered aerial and underwater vehicles. The proposed approach assumes a taut tether between two consecutive contact points and knowledge of the coefficient of friction of the obstacles present in the environment. The method first computes the visibility graph of the environment, in which each node represents a vertex of an obstacle. Then, a second graph, named the tension-aware graph, is built so that the tether–environment interaction, formulated in terms of tension, is computed and used as the cost of the edges. A graph search algorithm (e.g., Dijkstra) is then used to compute a path with minimum tension, which can help the tethered robot reach longer distances by minimizing the tension required to drag the tether along the way. This paper presents simulations and a real-world experiment that illustrate the characteristics of the method.