An analytical strategy to generate stable paths for a reconfigurable vehicle while also meeting additional navigational objectives is herein proposed. The work is motivated by robots traversing over challenging terrains during search and rescue operations, such as those equipped with manipulator arms and/or flippers. The proposed solution looks at minimizing the length of the traversed path and the energy expenditure in changing postures, yet also accounts for additional constraints in terms of sensor visibility (i.e arm configurations close to those orthogonal to the horizontal global plane which can afford a wider sensor view) and traction (i.e. flipper angles that provide the largest trackterrain interaction area). The validity of the proposed planning approach is evaluated with a multitracked robot fitted with flippers and a range camera at the end of a manipulator arm while navigating over two challenging 3D terrain data sets: one in a mock-up urban search and rescue arena (USAR), and a second one from a publicly available quasi-outdoor rover testing facility (UTIAS).
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