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
Publication statusPublished - 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

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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