The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
| Autor: | Pasricha, Anuj, Roncone, Alessandro |
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| Rok vydání: | 2024 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | In this work, we introduce LazyBoE, a multi-query method for kinodynamic motion planning with forward propagation. This algorithm allows for the simultaneous exploration of a robot's state and control spaces, thereby enabling a wider suite of dynamic tasks in real-world applications. Our contributions are three-fold: i) a method for discretizing the state and control spaces to amortize planning times across multiple queries; ii) lazy approaches to collision checking and propagation of control sequences that decrease the cost of physics-based simulation; and iii) LazyBoE, a robust kinodynamic planner that leverages these two contributions to produce dynamically-feasible trajectories. The proposed framework not only reduces planning time but also increases success rate in comparison to previous approaches. Comment: Accepted to ICRA 2022 (International Conference on Robotics and Automation) |
| Databáze: | arXiv |
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