Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints

Ioannis Arvanitakis, Antonios Tzes, Michalis Thanou

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    In this article, a robot motion planning scheme for 3D-terrains is developed. Given the terrain profile and various obstacles on it, a navigation function is created. A geodesic based shortest path algorithm is developed to find the optimal lengthwise path towards the goal position. The path is then converted into a continuous smooth trajectory via an optimization scheme relying on a Bézier curve parametrization that satisfies the robot's kinodynamic constraints. The efficacy of the proposed method is tested in various simulation studies.

    Original languageEnglish (US)
    Title of host publicationProceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
    Pages4144-4149
    Number of pages6
    DOIs
    StatePublished - Dec 1 2013
    Event39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013 - Vienna, Austria
    Duration: Nov 10 2013Nov 14 2013

    Other

    Other39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
    CountryAustria
    CityVienna
    Period11/10/1311/14/13

    Fingerprint

    Motion planning
    Robots
    Navigation
    Trajectories

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Arvanitakis, I., Tzes, A., & Thanou, M. (2013). Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society (pp. 4144-4149). [6699800] https://doi.org/10.1109/IECON.2013.6699800

    Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints. / Arvanitakis, Ioannis; Tzes, Antonios; Thanou, Michalis.

    Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. 2013. p. 4144-4149 6699800.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Arvanitakis, I, Tzes, A & Thanou, M 2013, Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints. in Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society., 6699800, pp. 4144-4149, 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013, Vienna, Austria, 11/10/13. https://doi.org/10.1109/IECON.2013.6699800
    Arvanitakis I, Tzes A, Thanou M. Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints. In Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. 2013. p. 4144-4149. 6699800 https://doi.org/10.1109/IECON.2013.6699800
    Arvanitakis, Ioannis ; Tzes, Antonios ; Thanou, Michalis. / Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints. Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society. 2013. pp. 4144-4149
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