Admissible velocity propagation: Beyond quasi-static path planning for high-dimensional robots
| Autor: | Yoshihiko Nakamura, Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon |
|---|---|
| Přispěvatelé: | Nanyang Technological University [Singapour], Interactive Digital Humans (IDH), Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM), Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM), Nakamura Laboratory (Department of Mechano-Informatics), The University of Tokyo (UTokyo) |
| Jazyk: | angličtina |
| Rok vydání: | 2017 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science 02 engineering and technology High dimensional Kinematics [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science::Robotics Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Control theory 0202 electrical engineering electronic engineering information engineering Decomposition (computer science) Motion planning Electrical and Electronic Engineering ComputingMilieux_MISCELLANEOUS Applied Mathematics Mechanical Engineering Dynamics (mechanics) Trajectory planning Modeling and Simulation Robot 020201 artificial intelligence & image processing Robotics (cs.RO) Software Quasistatic process |
| Zdroj: | The International Journal of Robotics Research The International Journal of Robotics Research, SAGE Publications, 2017, 36 (1), pp.44-67. ⟨10.1177/0278364916675419⟩ |
| ISSN: | 0278-3649 1741-3176 |
| DOI: | 10.1177/0278364916675419⟩ |
| Popis: | Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in two separate, simpler, steps: first, find a path in the configuration space that satisfies the geometric constraints (path planning), and second, find a time-parameterization of that path satisfying the kinodynamic constraints. A fundamental requirement is that the path found in the first step should be time-parameterizable. Most existing works fulfill this requirement by enforcing quasi-static constraints in the path planning step, resulting in an important loss in completeness. We propose a method that enables path-velocity decomposition to discover truly dynamic motions, i.e. motions that are not quasi-statically executable. At the heart of the proposed method is a new algorithm -- Admissible Velocity Propagation -- which, given a path and an interval of reachable velocities at the beginning of that path, computes exactly and efficiently the interval of all the velocities the system can reach after traversing the path while respecting the system kinodynamic constraints. Combining this algorithm with usual sampling-based planners then gives rise to a family of new trajectory planners that can appropriately handle kinodynamic constraints while retaining the advantages associated with path-velocity decomposition. We demonstrate the efficiency of the proposed method on some difficult kinodynamic planning problems, where, in particular, quasi-static methods are guaranteed to fail. 43 pages, 14 figures |
| Databáze: | OpenAIRE |
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