Multi-stage warm started optimal motion planning for over-actuated mobile platforms

• DOI: 10.1007/s11370-023-00461-x
• Publication Date: 2023-04-25T03:36:27Z
• Authors: Gonzalo J. Paz-De...; Carlos J. Pérez-d...; Martin Azkarate; Frank Kirchner; Alfonso García-Ce...
• Keywords: Testbed; Benchmark (surveying); Planner; Traverse

Abstract This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, general state-space model mobile platforms with several kinematic chains is defined, which considers dynamics, nonlinearities and constraints. The proposed based on sequential multi-stage approach that takes advantage of the warm start each step. Firstly, globally optimal smooth 2D/3D trajectory generated using Fast Marching Method. fed as to linear quadratic regulator able generate an plan without constraints all platform actuators. Finally, feasible considering defined in model. In respect, employed again, taking previously unconstrained start. has been deployed into Exomars Testing Rover European Space Agency. rover Ackermann-capable planetary exploration testbed equipped robotic arm. Several experiments were carried out demonstrating speeds up computation time increases success ratio martian sample retrieval mission, can be considered representative use case goal-constrained generation platform.