TY - GEN
T1 - Geodesic motion planning on 3D-terrains satisfying the robot's kinodynamic constraints
AU - Arvanitakis, Ioannis
AU - Tzes, Anthony
AU - Thanou, Michalis
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84893533780&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893533780&partnerID=8YFLogxK
U2 - 10.1109/IECON.2013.6699800
DO - 10.1109/IECON.2013.6699800
M3 - Conference contribution
AN - SCOPUS:84893533780
SN - 9781479902248
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 4144
EP - 4149
BT - Proceedings, IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society
T2 - 39th Annual Conference of the IEEE Industrial Electronics Society, IECON 2013
Y2 - 10 November 2013 through 14 November 2013
ER -