Near Time-Optimal Hybrid Motion Planning for Timber Cranes
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866915677350133760 |
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| author | Ecker, Marc-Philip Bischof, Bernhard Vu, Minh Nhat Fröhlich, Christoph Glück, Tobias Kemmetmüller, Wolfgang |
| author_facet | Ecker, Marc-Philip Bischof, Bernhard Vu, Minh Nhat Fröhlich, Christoph Glück, Tobias Kemmetmüller, Wolfgang |
| contents | Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed by current motion planning methods. This paper introduces a novel approach for time-optimal, collision-free hybrid motion planning for a hydraulically actuated timber crane with passive joints. We enhance the via-point-based stochastic trajectory optimization (VP-STO) algorithm to include pump flow rate constraints and develop a novel collision cost formulation to improve robustness. The effectiveness of the enhanced VP-STO as an optimal single-query global planner is validated by comparison with an informed RRT* algorithm using a time-optimal path parameterization (TOPP). The overall hybrid motion planning is formed by combination with a gradient-based local planner that is designed to follow the global planner's reference and to systematically consider the passive joint dynamics for both collision avoidance and sway damping. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_20314 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Near Time-Optimal Hybrid Motion Planning for Timber Cranes Ecker, Marc-Philip Bischof, Bernhard Vu, Minh Nhat Fröhlich, Christoph Glück, Tobias Kemmetmüller, Wolfgang Robotics Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed by current motion planning methods. This paper introduces a novel approach for time-optimal, collision-free hybrid motion planning for a hydraulically actuated timber crane with passive joints. We enhance the via-point-based stochastic trajectory optimization (VP-STO) algorithm to include pump flow rate constraints and develop a novel collision cost formulation to improve robustness. The effectiveness of the enhanced VP-STO as an optimal single-query global planner is validated by comparison with an informed RRT* algorithm using a time-optimal path parameterization (TOPP). The overall hybrid motion planning is formed by combination with a gradient-based local planner that is designed to follow the global planner's reference and to systematically consider the passive joint dynamics for both collision avoidance and sway damping. |
| title | Near Time-Optimal Hybrid Motion Planning for Timber Cranes |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.20314 |