Document Type
Conference Paper
Publication Date
2024
DOI
10.1016/j.ifacol.2024.10.041
Publication Title
IFAC-PapersOnLine
Volume
58
Issue
20
Pages
115-120
Conference Name
15th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles CAMS 2024, 3-5 September 2024, Blacksburg, VA
Abstract
This paper introduces a path planning algorithm for a system with squid dynamics in a cluttered environment. We capture the complex interactions of fin, arms, and body patterning by analyzing experimental data collected from observing squid motion. We extract nine motion primitives to build the control sequence for a time-optimal trajectory. This task is formulated as a mixed-integer program, and we generate the minimum-time trajectory using a sample-based approach. Numerical simulations illustrate the efficacy of this strategy and motivate ongoing and future efforts to exploration of squid motion features, improvement of the modeling, and experimental demonstrations of the motion planning strategy.
Rights
© 2024 The Authors.
This is an open access article under the Creative Commons Attribution-Noncommercial-Noderivatives 4.0 International (CC BY-NC-ND 4.0) License.
Original Publication Citation
Beaver, L. E., Wei, C., & Yen, W.-K. (2024). Kinodynamic motion planning for a system with squid dynamics. IFAC-PapersOnLine, 58(20), 115-120. https://doi.org/10.1016/j.ifacol.2024.10.041
ORCID
0000-0002-9770-2740 (Beaver), 0000-0002-6552-7239 (Wei)
Repository Citation
Beaver, Logan E.; Wei, Cong; and Yen, Wei-Kuo, "Kinodynamic Motion Planning for a System With Squid Dynamics" (2024). Mechanical & Aerospace Engineering Faculty Publications. 162.
https://digitalcommons.odu.edu/mae_fac_pubs/162
Included in
Artificial Intelligence and Robotics Commons, Military Vehicles Commons, Theory and Algorithms Commons