Extending First-order Robotic Motion Planners to Second-order Robot Dynamics
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866912640721223680 |
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| author | Sawant, Mayur Tayebi, Abdelhamid |
| author_facet | Sawant, Mayur Tayebi, Abdelhamid |
| contents | This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner. When such a function is known, the first-order motion planner is combined with a damping velocity vector with a dynamic gain to extend the safety and convergence guarantees of the first-order motion planner to second-order systems. If no such function is available, we propose an alternative control scheme ensuring that the error between the robot's velocity and the first-order motion planner converges to zero. The theoretical developments are supported by simulation results demonstrating the effectiveness of the proposed approaches. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_17589 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Extending First-order Robotic Motion Planners to Second-order Robot Dynamics Sawant, Mayur Tayebi, Abdelhamid Robotics Systems and Control This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner. When such a function is known, the first-order motion planner is combined with a damping velocity vector with a dynamic gain to extend the safety and convergence guarantees of the first-order motion planner to second-order systems. If no such function is available, we propose an alternative control scheme ensuring that the error between the robot's velocity and the first-order motion planner converges to zero. The theoretical developments are supported by simulation results demonstrating the effectiveness of the proposed approaches. |
| title | Extending First-order Robotic Motion Planners to Second-order Robot Dynamics |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.17589 |