Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-04-29 DOI:10.1016/j.mechatronics.2025.103319

Marc-Philip Ecker , Bernhard Bischof , Minh Nhat Vu , Christoph Fröhlich , Tobias Glück , Wolfgang Kemmetmüller

引用次数: 0

Abstract

Efficient, collision-free motion planning is a crucial building block for autonomous timber cranes. These machines present unique challenges, such as hydraulic actuation constraints and passive joints — factors that are seldom addressed by current motion planning methods. This paper presents efficient global kinodynamic motion planning for timber cranes using the recently introduced via-point-based stochastic trajectory optimization (VP-STO) algorithm. We demonstrate the effectiveness by comparing the approach to LQR-RRT*, a sampling-based kinodynamic planner for underactuated systems, and a geometric RRT*, which solves a simplified geometric planning problem without kinodynamic constraints.

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基于随机轨迹优化的欠驱动木起重机整体运动规划

高效、无碰撞的运动规划是自主木起重机的关键组成部分。这些机器提出了独特的挑战，如液压驱动约束和被动关节-目前的运动规划方法很少解决的因素。本文提出了一种基于点的随机轨迹优化（VP-STO）算法，用于木材起重机的全局运动规划。通过将该方法与LQR-RRT*（一种针对欠驱动系统的基于采样的运动动力学规划方法）和几何RRT*（一种解决没有运动动力学约束的简化几何规划问题的方法）进行比较，我们证明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.