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This study integrates pose-parameterized motion planning with a capsule-based control barrier function quadratic program (CBF-QP) to enable autonomous collision-aware operation of the Sandvik SB60 long-reach drilling boom. By employing a fixed task-specific parameter set, the method generates waypoints and detours without the need for retuning, ensuring effective navigation through complex environments. Evaluation against two drilling tasks demonstrated zero inverse kinematics failures and millimetre-level accuracy in final positioning, highlighting the robustness of the approach.
Achieving zero inverse kinematics failures while maintaining millimetre-level accuracy in autonomous drilling operations could revolutionize long-reach drilling efficiency.
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.