Ecker, Marc-Philip (TU Wien, Austrian Institute of Technology), Bischof, Bernhard (AIT, Austrian Institute of Technology), Vu, Minh Nhat (Automation & Control Institute (ACIN), TU Wien, Austria), Christoph, Froehlich (Austrian Institute of Technology GmbH), Glück, Tobias (Austrian Institute of Technology), Kemmetmueller, Wolfgang (TU Wien)

Global Kinodynamic Motion Planning for an Underactuated Timber Crane with Stochastic Trajectory Optimization

Scheduled for presentation during the Regular Session "Robot Task Planning" (FrAT2), Friday, July 18, 2025, 10:00−10:20, Room 106

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on August 2, 2025

Abstract

Efficient, collision-free motion planning is a crucial building block for autonomous timber cranes. These machines present unique challenges, such as hydraulic actuation constraints and passive joints—factors that are seldom addressed by current motion planning methods. This paper presents efficient global kinodynamic motion planning for timber cranes using the recently introduced via-point-based stochastic trajectory optimization (VP-STO) algorithm We demonstrate the effectiveness by comparing the approach to LQR-RRT*, a sampling-based kinodynamic planner for underactuated systems, and a geometric RRT*, which solves a simplified geometric planning problem without kinodynamic constraints.