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.
|Title of host publication||39th Annual Conference of the IEEE Industrial Electronics Society|
|Number of pages||6|
|Publication status||Published - 2013|
|Event||39th Annual Conference of the IEEE Industrial Electronics Society - Vienna, Austria|
Duration: 10 Nov 2013 → 13 Nov 2013
Conference number: 39
|Conference||39th Annual Conference of the IEEE Industrial Electronics Society|
|Abbreviated title||IECON 2013|
|Period||10/11/13 → 13/11/13|
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