  For rescue robots, flipper endows the robot with additional ability to pass
through various terrain. Autonomous motion becomes more important. In recent
work autonomy is done by either planning with several special states or based
on collected data. We are considering if it is possible to find a way to build
continues states without collecting old trail data. In this paper, we first
model the possible states as a global planning path with parameter
configuration of the scene. Then, we follows the path to achieve the autonomous
run. We plot the morphology of each path points to show the correctness of the
path and implement a simple path following on real robot to demonstrate the
performance of our algorithm.
