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|
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.
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