Abstract
We study the problem of generating motion plans for kinematically controllable underactuated systems in environments cluttered with obstacles. We develop a computationally efficient motion planning algorithm that finds fast trajectories by exploiting closed-form inverse kinematics of the robot. The completeness property of the motion planning algorithm can be proven using appropriate metrics defined in the configuration space of the kinematically controllable systems. The snakeboard is used as an example of a kinematically controllable underactuated system to test the motion planning algorithm, and motion plans have been implemented on an experimental snakeboard.
Original language | English (US) |
---|---|
Pages (from-to) | 2242-2248 |
Number of pages | 7 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 2004 |
Issue number | 3 |
DOIs | |
State | Published - 2004 |
Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: Apr 26 2004 → May 1 2004 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering