Carnegie Mellon University
Snakeboard motion planning with local trajectory information

Tony Dear, Ross L. Hatton, Matthew J. Travers, and Howie Choset
October, 2013.

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We address trajectory generation for the snakeboard, a system commonly studied in the geometric mechanics community. Our approach derives a solution using body coordinates and local trajectory information, leading to a more intuitive solution compared to prior work. The simple forms of the solution clearly show how they depend on local curvature and desired velocity profile, allowing for a description of some simple motion primitives. We readily propose techniques to navigate paths, including those with sharp corners, by taking advantage of the snakeboard’s singular configuration, as well as discuss some implications of torque limits.


Text Reference
Tony Dear, Ross L. Hatton, Matthew J. Travers, and Howie Choset, "Snakeboard motion planning with local trajectory information," October, 2013.

BibTeX Reference
   author = "Tony Dear and Ross L. Hatton and Matthew J Travers and Howie Choset",
   title = "Snakeboard motion planning with local trajectory information",
   booktitle = "",
   month = "October",
   year = "2013",