Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning

• URL: http://arxiv.org/abs/2607.17818v1
• Date: Mon, 20 Jul 2026 11:02:30 GMT
• Title: Task-Space Constrained Stochastic Trajectory Optimization for Time-Optimal Forestry Crane Motion Planning
• Abstract summary: Trajectory Optimization (VP-STO) has demonstrated near-time-optimal hybrid motion planning in this domain.<n>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.<n>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.
• Score: 0.21748200848556343
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: 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.

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