Trajectory planning for kinematically controllable underactuated mechanical systems

Prasun Choudhury; Kevin M Lynch

doi:10.1007/978-3-540-45058-0_33

Trajectory planning for kinematically controllable underactuated mechanical systems

Prasun Choudhury^*, Kevin M Lynch

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

We develop trajectory planners for a class of second-order underactuated mechanical systems called kinematically controllable systems. For kinematically controllable systems, the problem of planning fast collision-free trajectories can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. This paper describes efficient path planners using randomized algorithms and dynamic programming to solve the path planning problem for the kinematic system. The resulting kinematic paths are time scaled to produce fast trajectories.

Original language	English (US)
Title of host publication	Algorithmic Foundations of Robotics V
Pages	559-575
Number of pages	17
DOIs	https://doi.org/10.1007/978-3-540-45058-0_33
State	Published - Dec 1 2004
Event	5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002 - Nice, France Duration: Dec 15 2002 → Dec 17 2002

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	7 STAR
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002
Country/Territory	France
City	Nice
Period	12/15/02 → 12/17/02

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering

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10.1007/978-3-540-45058-0_33

Cite this

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title = "Trajectory planning for kinematically controllable underactuated mechanical systems",

abstract = "We develop trajectory planners for a class of second-order underactuated mechanical systems called kinematically controllable systems. For kinematically controllable systems, the problem of planning fast collision-free trajectories can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. This paper describes efficient path planners using randomized algorithms and dynamic programming to solve the path planning problem for the kinematic system. The resulting kinematic paths are time scaled to produce fast trajectories.",

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Choudhury, P & Lynch, KM 2004, Trajectory planning for kinematically controllable underactuated mechanical systems. in Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics, vol. 7 STAR, pp. 559-575, 5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002, Nice, France, 12/15/02. https://doi.org/10.1007/978-3-540-45058-0_33

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AB - We develop trajectory planners for a class of second-order underactuated mechanical systems called kinematically controllable systems. For kinematically controllable systems, the problem of planning fast collision-free trajectories can be decoupled into the computationally simpler problems of path planning for a kinematic system followed by time-optimal time scaling. This paper describes efficient path planners using randomized algorithms and dynamic programming to solve the path planning problem for the kinematic system. The resulting kinematic paths are time scaled to produce fast trajectories.

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Trajectory planning for kinematically controllable underactuated mechanical systems

Abstract

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