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 language | English |
|---|---|
| Title of host publication | 39th Annual Conference of the IEEE Industrial Electronics Society |
| Publisher | IEEE |
| Pages | 4144-4149 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4799-0224-8 |
| DOIs | |
| Publication status | Published - 2013 |
| Externally published | Yes |
| Event | 39th Annual Conference of the IEEE Industrial Electronics Society - Vienna, Austria Duration: 10 Nov 2013 → 13 Nov 2013 Conference number: 39 |
Conference
| Conference | 39th Annual Conference of the IEEE Industrial Electronics Society |
|---|---|
| Abbreviated title | IECON 2013 |
| Country/Territory | Austria |
| City | Vienna |
| Period | 10/11/13 → 13/11/13 |
Bibliographical note
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