Trajectory planning for kinematically controllable underactuated mechanical systems

Prasun Choudhury*, Kevin M Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 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 languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics V
Pages559-575
Number of pages17
DOIs
StatePublished - Dec 1 2004
Event5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002 - Nice, France
Duration: Dec 15 2002Dec 17 2002

Publication series

NameSpringer Tracts in Advanced Robotics
Volume7 STAR
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002
CountryFrance
CityNice
Period12/15/0212/17/02

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering

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