发表机构
Automation & Control Institute (ACIN), TU Wien; Center for Vision, Automation & Control, AIT Austrian Institute of Technology GmbH（自动化与控制研究所，维也纳工业大学; 视觉、自动化与控制中心，奥地利技术研究院有限公司）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对液压泵流量约束下的林业起重机运动规划问题，提出TSC-VP-STO算法，通过任务空间约束联合优化轨迹与终端配置冗余自由度，相比基线算法平均轨迹时长减12 - 15%，泵流量利用改善，且经实际部署验证。
AI 中文摘要
高效、无碰撞且时间最优的运动规划是液压泵流量约束下自主林业起重机的基本要求。基于路径点的随机轨迹优化（VP-STO）算法在此领域已证明接近时间最优的混合运动规划，但需在优化前指定固定终端关节配置。对于林业起重机这类运动学冗余机械手，这种对单一逆运动学解的预先确定限制了规划器利用冗余的能力。本文提出TSC-VP-STO，它是VP-STO的任务空间约束扩展，用任务空间约束取代严格终端关节空间约束，联合优化轨迹和终端配置冗余自由度。这使规划器能使末端配置适应环境相关运动和液压流分配，实现更平衡的泵利用和更短轨迹持续时间。通过配置空间分解形式化该方法并推导林业起重机运动学的具体可达性约束。实验评估表明，与基线VP-STO相比，平均轨迹持续时间减少12 - 15%且泵流量利用得到改善。TSC-VP-STO的实际适用性通过在林业起重机上的实际部署得到验证，包括完整的原木装载周期。
英文摘要
Efficient, collision-free, and time-optimal motion planning is a fundamental requirement for autonomous forestry cranes operating under hydraulic pump-flow constraints. The Via-Point-based Stochastic Trajectory Optimization (VP-STO) algorithm has demonstrated near-time-optimal hybrid motion planning in this domain, but requires a fixed terminal joint configuration specified prior to optimization. For kinematically redundant manipulators such as forestry cranes, this pre-commitment to a single inverse kinematics solution restricts the planner's ability to exploit redundancy, particularly under the nonlinear, globally coupled pump-flow constraint where admissible joint velocities depend on their combined hydraulic demand. This paper presents TSC-VP-STO, a task-space-constrained extension of VP-STO that replaces the strict terminal joint-space constraint with a task-space constraint, jointly optimizing the trajectory and the redundant degrees of freedom of the terminal configuration. This enables the planner to adapt end configurations to the environment-dependent motion and hydraulic flow allocation, yielding more balanced pump utilization and shorter trajectory durations. We formalize the approach through a configuration space decomposition and derive a concrete reachability constraint for the forestry crane kinematics. Experimental evaluations across multiple planning targets and via-point configurations demonstrates a reduction on trajectory durations by 12-15% on average and improved pump-flow utilization compared to the baseline VP-STO. The practical applicability of TSC-VP-STO is validated through real-world deployment on a forestry crane, including a full log-loading cycle.
CommentsAccepted at IROS 2026
