Record link: 
http://hdl.handle.net/20.500.12708/215621
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Title: 
Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization
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Citation: 
Ecker, M.-P., Bischof, B., Vu, M. N., Fröhlich, C., Glück, T., & Kemmetmüller, W. (2025). Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization. Mechatronics, 108, Article 103319. https://doi.org/10.1016/j.mechatronics.2025.103319
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Publisher DOI: 
10.1016/j.mechatronics.2025.103319
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Publication Type: 
Article - Original Research Article
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Language: 
English
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Authors: 
Ecker, Marc - Philip 
Bischof, Bernhard 
Vu, Minh Nhat 
Fröhlich, Christoph 
Glück, Tobias 
Kemmetmüller, Wolfgang 
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Organisational Unit: 
E376-02 - Forschungsbereich Komplexe Dynamische Systeme 
E949 - Space Team 
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Journal: 
Mechatronics 
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ISSN: 
0957-4158
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Date (published): 
Jun-2025
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Number of Pages: 
7
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Publisher: 
PERGAMON-ELSEVIER SCIENCE LTD
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Peer reviewed: 
Yes
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Keywords: 
timber crane; underactuated manipulator; collision avoidance
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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.
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Research Areas: 
Mathematical and Algorithmic Foundations: 50%
Modeling and Simulation: 50%
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Science Branch: 
2020 - Elektrotechnik, Elektronik, Informationstechnik: 100%
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