Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom

Abstract:Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and execution. For the Sandvik SB60, this study adapts established methods by integrating pose-parameterized planning with a capsule-based control barrier function quadratic program (CBF-QP) in measured-state inverse kinematics (IK). A fixed task-specific parameter set within each task generates waypoints, detours, timed references, and chained motion without target-specific retuning. The offline detour planner screens candidate waypoints using 23 selected rod-segment-to-body-region distances, whereas the online CBF-QP filters joint velocities using 14 configured capsule-pair constraints from a nine-primitive whole-body capsule model. Evaluation considers two drilling tasks in a manufacturer-developed SB60 Simscape Multibody model: a five-target restricted-orientation tour and a three-target full-pose tour. Across several hundred thousand samples, the method produced zero IK failures, generated several detour waypoints, achieved millimetre-level mean final-position error, and recorded no sampled CBF margins below the reported thresholds.

Robotics (cs.RO); Systems and Control (eess.SY)

arXiv:2607.18855 [cs.RO]

(or arXiv:2607.18855v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2607.18855 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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