Ballistic motion planning

Mylène Campana (1, 2, 3) , Jean-Paul Laumond (4, 3)

1 PRES Université de Toulouse
2 UT3 - Université Toulouse III - Paul Sabatier
3 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
4 CNRS - Centre National de la Recherche Scientifique

This paper addresses the motion planning problem for 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 belong to 3D friction cones. Furthermore the magnitude of these velocities is bounded. A 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.

Mots clés: motion planning; ballistic motion

Domaines: Robotique [cs.RO]; Automatique / Robotique

Mylène Campana, Jean-Paul Laumond. Ballistic motion planning. 2016. ⟨hal-01288796v1⟩