Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques

Arun Kumar Singh, K. Madhava Krishna, Srikanth Saripalli

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

10 Citations (Scopus)

Abstract

In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible vehicle stability along various directions on the terrain and this information is used to control the shape of the trajectory. (2) It introduces a novel paradigm wherein non-linear time scaling brought about by parametrized exponential functions are used to modify the velocity and acceleration profile of the vehicle so that these satisfy the no-slip and contact constraints. We show that nonlinear time scaling manipulates velocity and acceleration profile in a versatile manner and consequently has exceptional utility not only in uneven terrain navigation but also in general in any problem where it is required to change the velocity of the robot while keeping the path unchanged like collision avoidance.

Original languageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3538-3545
Number of pages8
DOIs
StatePublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

Fingerprint

Trajectories
Planning
Exponential functions
Collision avoidance
Navigation
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Singh, A. K., Krishna, K. M., & Saripalli, S. (2012). Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. In IEEE International Conference on Intelligent Robots and Systems (pp. 3538-3545). [6385662] https://doi.org/10.1109/IROS.2012.6385662

Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. / Singh, Arun Kumar; Krishna, K. Madhava; Saripalli, Srikanth.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 3538-3545 6385662.

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

Singh, AK, Krishna, KM & Saripalli, S 2012, Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. in IEEE International Conference on Intelligent Robots and Systems., 6385662, pp. 3538-3545, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6385662
Singh AK, Krishna KM, Saripalli S. Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 3538-3545. 6385662 https://doi.org/10.1109/IROS.2012.6385662
Singh, Arun Kumar ; Krishna, K. Madhava ; Saripalli, Srikanth. / Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 3538-3545
@inproceedings{625b97e0406741528bb8fd27a3244843,
title = "Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques",
abstract = "In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible vehicle stability along various directions on the terrain and this information is used to control the shape of the trajectory. (2) It introduces a novel paradigm wherein non-linear time scaling brought about by parametrized exponential functions are used to modify the velocity and acceleration profile of the vehicle so that these satisfy the no-slip and contact constraints. We show that nonlinear time scaling manipulates velocity and acceleration profile in a versatile manner and consequently has exceptional utility not only in uneven terrain navigation but also in general in any problem where it is required to change the velocity of the robot while keeping the path unchanged like collision avoidance.",
author = "Singh, {Arun Kumar} and Krishna, {K. Madhava} and Srikanth Saripalli",
year = "2012",
doi = "10.1109/IROS.2012.6385662",
language = "English (US)",
isbn = "9781467317375",
pages = "3538--3545",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",

}

TY - GEN

T1 - Planning trajectories on uneven terrain using optimization and non-linear time scaling techniques

AU - Singh, Arun Kumar

AU - Krishna, K. Madhava

AU - Saripalli, Srikanth

PY - 2012

Y1 - 2012

N2 - In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible vehicle stability along various directions on the terrain and this information is used to control the shape of the trajectory. (2) It introduces a novel paradigm wherein non-linear time scaling brought about by parametrized exponential functions are used to modify the velocity and acceleration profile of the vehicle so that these satisfy the no-slip and contact constraints. We show that nonlinear time scaling manipulates velocity and acceleration profile in a versatile manner and consequently has exceptional utility not only in uneven terrain navigation but also in general in any problem where it is required to change the velocity of the robot while keeping the path unchanged like collision avoidance.

AB - In this paper we introduce a novel framework of generating trajectories which explicitly satisfies the stability constraints such as no-slip and permanent ground contact on uneven terrain. The main contributions of this paper are: (1) It derives analytical functions depicting the evolution of the vehicle on uneven terrain. These functional descriptions enable us to have a fast evaluation of possible vehicle stability along various directions on the terrain and this information is used to control the shape of the trajectory. (2) It introduces a novel paradigm wherein non-linear time scaling brought about by parametrized exponential functions are used to modify the velocity and acceleration profile of the vehicle so that these satisfy the no-slip and contact constraints. We show that nonlinear time scaling manipulates velocity and acceleration profile in a versatile manner and consequently has exceptional utility not only in uneven terrain navigation but also in general in any problem where it is required to change the velocity of the robot while keeping the path unchanged like collision avoidance.

UR - http://www.scopus.com/inward/record.url?scp=84872296859&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84872296859&partnerID=8YFLogxK

U2 - 10.1109/IROS.2012.6385662

DO - 10.1109/IROS.2012.6385662

M3 - Conference contribution

SN - 9781467317375

SP - 3538

EP - 3545

BT - IEEE International Conference on Intelligent Robots and Systems

ER -