Ballistic motion planning
- Resource Type
- Conference
- Authors
- Campana, Mylene; Laumond, Jean-Paul
- Source
- 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. :1410-1416 Oct, 2016
- Subject
- Robotics and Control Systems
Friction
Three-dimensional displays
Two dimensional displays
Planning
Mathematical model
Robot kinematics
- Language
- ISSN
- 2153-0866
This paper addresses the motion planning problem of a jumping point-robot. Each jump consists in a ballistic motion linking two positions in contact with obstacle surfaces. A solution path is thus a sequence of parabola arcs. The originality of the approach is to consider non-sliding constraints at contact points: slipping avoidance is handled by constraining takeoff and landing velocity vectors to 3D friction cones. Furthermore the magnitude of these velocities is bounded. The ballistic motion lying in a vertical plane, we transform the 3D problem into a 2D one. We then solve the motion equations. The solution gives rise to an exact steering method computing a jump path between two contact points while respecting all constraints. The method is integrated into a standard probabilistic roadmap planner. Probabilistic completeness is proven. Simulations illustrate the performance of the approach.