Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00327564" target="_blank" >RIV/68407700:21230/18:00327564 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.1109/ETFA.2018.8502446" target="_blank" >http://dx.doi.org/10.1109/ETFA.2018.8502446</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/ETFA.2018.8502446" target="_blank" >10.1109/ETFA.2018.8502446</a>

Result language

angličtina

Original language name

Motion planning of 3D objects using Rapidly Exploring Random Tree guided by approximate solutions

Original language description

Path planning of 3D objects, where the task is to find a collision-free path for a rigid 3D object among obstacles, is studied in this paper. This task has many applications mainly in robotics, but also in other fields, e.g., in computer-aided design and computational biology. Sampling-based approaches like Rapidly Exploring Random Trees (RRT) solve the problem by randomized search in the corresponding configuration space. A well known bottleneck of sampling-based methods is the narrow passage problem. Narrow passages are small regions in the configuration space that are difficult to cover by the random samples, which prevents to find a path leading through them. In this paper, we propose a novel extension to Rapidly Exploring Random Tree (RRT) to cope with the narrow passage problem. The proposed planner first solves a simplified (relaxed) version of the problem which is achieved, e.g., by reducing the geometry of the robot. This approximate solution is then used to guide the search in the configuration space for a less relaxed version of the problem, i.e., for a larger robot. The proposed approach is compared to several state-of-the-art path planners in a set of 3D planning benchmarks. Besides, the method is verified also in the task of computing exit pathways for small molecules (ligand) from a protein.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/GA17-07690S" target="_blank" >GA17-07690S: Methods of Identification and Visualization of Tunnels for Flexible Ligands in Dynamic Proteins</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2018

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings 2018 IEEE 23rd International Conference on Emerging Technologies and Factory Automation (ETFA)

ISBN

978-1-5386-7108-5

ISSN

—

e-ISSN

1946-0759

Number of pages

8

Pages from-to

713-720

Publisher name

IEEE

Place of publication

Piscataway

Event location

Torino

Event date

Sep 4, 2018

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000449334500089