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

Ioannis Arvanitakis, Anthony Tzes, Michalis Thanou

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

2 Citations (Scopus)
7 Downloads (Pure)

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
Title of host publication39th Annual Conference of the IEEE Industrial Electronics Society
PublisherIEEE
Pages4144-4149
Number of pages6
ISBN (Electronic)978-1-4799-0224-8
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event39th Annual Conference of the IEEE Industrial Electronics Society - Vienna, Austria
Duration: 10 Nov 201313 Nov 2013
Conference number: 39

Conference

Conference39th Annual Conference of the IEEE Industrial Electronics Society
Abbreviated titleIECON 2013
CountryAustria
CityVienna
Period10/11/1313/11/13

Fingerprint

Motion planning
Robots
Navigation
Trajectories

Bibliographical note

© 2013 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Copyright © and Moral Rights are retained by the author(s) and/ or other copyright owners. A copy can be downloaded for personal non-commercial research or study, without prior permission or charge. This item cannot be reproduced or quoted extensively from without first obtaining permission in writing from the copyright holder(s). The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the copyright holders.

Cite this

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

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

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

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

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