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Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization
"... Abstract — 3D curvature-constrained motion planning finds applications in a wide variety of domains, including motion planning for flexible, bevel-tip medical needles, planning curvature-constrained channels in 3D printed implants for targeted brachytherapy dose delivery or channels for cooling turb ..."
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Abstract — 3D curvature-constrained motion planning finds applications in a wide variety of domains, including motion planning for flexible, bevel-tip medical needles, planning curvature-constrained channels in 3D printed implants for targeted brachytherapy dose delivery or channels for cooling turbine blades, and path planning for unmanned aerial vehicles (UAVs). In this work, we present a motion planning technique using sequential convex optimization for computing locally optimal, curvature-constrained trajectories to desired targets while avoiding obstacles in 3D environments. We report two main contributions in this work: (i) curvature-constrained trajectory optimization in 6D pose (position and orientation) space, and (ii) planning multiple trajectories that are mutually collisionfree. We demonstrate the performance of our approach on two clinically motivated applications. Our experiments indicate that our approach can compute high-quality plans for medical needle steering in 1.6 seconds on a commodity PC, enabling replanning during execution to correct for perturbations. Our approach can also be used for designing optimized channel layouts within 3D printed implants for intracavitary brachytherapy. I.
DOI: 10.1177/0278364914528132
"... Motion planning with sequential convex optimization and convex collision checking ..."
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Motion planning with sequential convex optimization and convex collision checking
Target Following with Motion Prediction for Unmanned Surface Vehicle Operating in Cluttered Environments. Autonomous Robots, Accepted for publication. Autonomous Robots, manuscript No. (will be inserted by the editor) Target Following with Motion Predicti
"... Abstract The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios in-volve a follower and target vehicles that may have different maneuvering ..."
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Abstract The capability of following a moving target in an environment with obstacles is required as a basic and necessary function for realizing an autonomous unmanned surface vehicle (USV). Many target following scenarios in-volve a follower and target vehicles that may have different maneuvering capabilities. Moreover, the follower vehicle may not have prior information about the intended mo-tion of the target boat. This paper presents a trajectory planning and tracking approach for following a differen-tially constrained target vehicle operating in an obstacle field. The developed approach includes a novel algorithm for computing a desired pose and surge speed in the vicin-ity of the target boat, jointly defined as a motion goal, and
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, 2014
"... Downloaded from ijr.sagepub.com at UNIV CALIFORNIA BERKELEY LIB on June 18, 2014Article Motion planning with sequential convex optimization and convex collision checking ..."
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Downloaded from ijr.sagepub.com at UNIV CALIFORNIA BERKELEY LIB on June 18, 2014Article Motion planning with sequential convex optimization and convex collision checking
What is This?
, 2014
"... Downloaded from ijr.sagepub.com at UNIV CALIFORNIA BERKELEY LIB on June 24, 2014Article Motion planning with sequential convex optimization and convex collision checking ..."
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Downloaded from ijr.sagepub.com at UNIV CALIFORNIA BERKELEY LIB on June 24, 2014Article Motion planning with sequential convex optimization and convex collision checking
