Curvature-Constrained Motion Planning and Control for Traffic Cone Manipulation Robot

Rudolf Krecht, Áron Ballagi

2025

Abstract

This paper presents an integrated system for traffic cone manipulation using a heavy-duty mobile robot equipped with GNSS-RTK localization, a custom remote supervision and mission control interface, and a curvature-constrained motion controller. Designed for use in semi-structured outdoor environments, the robot receives waypoint and speed commands via a tailored extension of Foxglove Studio, which enables intuitive map-based interaction and real-time trajectory editing. Owning to its high payload capacity, the platform prioritizes stability over maneuverability, thus, it cannot change orientation without longitudinal movement. To address this, we propose a smooth, curvature-based controller that enforces a minimum turning radius while following pose and heading goals. The system architecture is built on Robot Operating System 2 (ROS 2), leveraging modular nodes for map visualization, path planning, motion execution, and action triggering. Our experiments demonstrate the system’s ability to navigate complex waypoint paths and pause precisely at mission-dictated locations, more specifically cone placement locations. Our results show that even under turning constraints, the robot reliably executes full cone manipulation routines with high spatial accuracy and operational safety. The system highlights the feasibility of pairing high-level operator interfaces with low-level kinematic-aware planning for constrained robotic platforms.

Paper Citation

in Harvard Style

Krecht R. and Ballagi Á. (2025). Curvature-Constrained Motion Planning and Control for Traffic Cone Manipulation Robot. In Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-770-2, SciTePress, pages 317-324. DOI: 10.5220/0013720700003982

in Bibtex Style

@conference{icinco25,
author={Rudolf Krecht and Áron Ballagi},
title={Curvature-Constrained Motion Planning and Control for Traffic Cone Manipulation Robot},
booktitle={Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2025},
pages={317-324},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013720700003982},
isbn={978-989-758-770-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 22nd International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Curvature-Constrained Motion Planning and Control for Traffic Cone Manipulation Robot
SN - 978-989-758-770-2
AU - Krecht R.
AU - Ballagi Á.
PY - 2025
SP - 317
EP - 324
DO - 10.5220/0013720700003982
PB - SciTePress