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

2026-07-21

AI Summary

This work addresses the self-collision avoidance problem for long-reach drilling rigs during continuous operation by proposing a general-purpose autonomous motion planning framework that eliminates the need for task-specific reconfiguration. The approach integrates pose-parameterized path planning, a capsule-based collision model, and control barrier function quadratic programming (CBF-QP) to enable safe, collision-free trajectory generation and execution within inverse kinematics solvers. Safety is ensured through an offline obstacle-avoidance screening step combined with an online velocity filtering mechanism. Experimental results demonstrate that the system achieves zero inverse kinematics failures and millimeter-level end-effector positioning accuracy across hundreds of thousands of samples, successfully generating multiple detour paths while maintaining all CBF margins above the prescribed threshold, thereby validating the method’s effectiveness and robustness.

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.

Problem

• self-collision avoidance
• motion planning
• long-reach drilling boom
• autonomous control
• pose-parameterized

Innovation

• pose-parameterized planning
• CBF-QP
• self-collision avoidance
• capsule-based modeling
• inverse kinematics