Kinodynamic Motion Planning for a System with Squid Dynamics

被引:0
|
作者
Beaver, Logan E. [1 ]
Wei, Cong [1 ]
Yen, Wei-Kuo [2 ]
机构
[1] Old Dominion Univ, Dept Mech & Aerosp Engn, Norfolk, VA 23529 USA
[2] Univ Maryland, MATRIX Lab, California, MD 20619 USA
来源
IFAC PAPERSONLINE | 2024年 / 58卷 / 20期
关键词
Kinetic modeling and control of biologically-inspired systems; Trajectory and path planning; Control of switched systems; Nonlinear and optimal marine system control; Control of constrained systems;
D O I
10.1016/j.ifacol.2024.10.041
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper introduces a path planning algorithm for a system with squid dynamics in a cluttered environment. We capture the complex interactions of fin, arms, and body patterning by analyzing experimental data collected from observing squid motion. We extract nine motion primitives to build the control sequence for a time-optimal trajectory. This task is formulated as a mixed-integer program, and we generate the minimum-time trajectory using a sample-based approach. Numerical simulations illustrate the efficacy of this strategy and motivate ongoing and future efforts to exploration of squid motion features, improvement of the modeling, and experimental demonstrations of the motion planning strategy. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)
引用
收藏
页码:115 / 120
页数:6
相关论文
共 50 条
  • [31] Kinodynamic Motion Planning for Robotic Arms Based on Learned Motion Primitives from Demonstrations
    Ashley, Joshua A.
    Kennedy, Daniel J.
    Xie, Biyun
    2023 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, AIM, 2023, : 221 - 227
  • [32] Search-based Kinodynamic Motion Planning for Omnidirectional Quadruped Robots
    Wang, Pei
    Zhou, Xiaoyu
    Zhao, Qingteng
    Wu, Jun
    Zhu, Qiuguo
    2021 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM), 2021, : 823 - 829
  • [33] Combining discrete and continuous optimization to solve kinodynamic motion planning problems
    Chantal Landry
    Wolfgang Welz
    Matthias Gerdts
    Optimization and Engineering, 2016, 17 : 533 - 556
  • [34] A motion planner for a hybrid robotic system with kinodynamic constraint
    Plaku, Erion
    Kavraki, Lydia E.
    Vardi, Moshe Y.
    PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 692 - 697
  • [35] Anytime Kinodynamic Motion Planning using Region-Guided Search
    Westbrook, Matthew G.
    Ruml, Wheeler
    2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2020, : 6789 - 6796
  • [36] Applying kinodynamic randomized motion planning with a dynamic priority system to multi-robot space systems
    Clark, CM
    Bretl, T
    Rock, S
    2002 IEEE AEROSPACE CONFERENCE PROCEEDINGS, VOLS 1-7, 2002, : 3621 - 3631
  • [37] Multi-Step Motion Planning for Climbing Robots with Kinodynamic Constraints
    Fueller, Matthias
    Prassler, Erwin
    Forsman, Pekka
    2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2013,
  • [38] Trajectory deformation applied to kinodynamic motion planning for a realistic car model
    Boyer, Fabrice
    Lamiraux, Florent
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 487 - +
  • [39] Combining discrete and continuous optimization to solve kinodynamic motion planning problems
    Landry, Chantal
    Welz, Wolfgang
    Gerdts, Matthias
    OPTIMIZATION AND ENGINEERING, 2016, 17 (03) : 533 - 556
  • [40] Asymptotically Optimal Kinodynamic Motion Planning for Self-reconfigurable Robots
    Reif, John H.
    Slee, Sam
    ALGORITHMIC FOUNDATION OF ROBOTICS VII, 2008, 47 : 457 - 472