Mapless, Stabilizing, and Anti-Stuck Flipper Control for Articulated Tracked Robots

This research presents SAS, a mapless controller for articulated tracked robots that combines stabilization for body roll and pitch with an anti-stuck mechanism. SAS uses IMU, flipper joint angles, and a motion cue to navigate without relying on elevation maps, achieving traversal quality comparable to state-of-the-art map-based controllers in both simulation and real-world tests, including scenarios where LiDAR cannot detect obstacles.