Sampling-based motion planning of 3D solid objects guided by multiple approximate solutions

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00335545" target="_blank" >RIV/68407700:21230/19:00335545 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/IROS40897.2019.8968578" target="_blank" >https://doi.org/10.1109/IROS40897.2019.8968578</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/IROS40897.2019.8968578" target="_blank" >10.1109/IROS40897.2019.8968578</a>

Result language

angličtina

Original language name

Sampling-based motion planning of 3D solid objects guided by multiple approximate solutions

Original language description

Sampling-based motion planners are often used to solve motion planning problems for robots with many degrees of freedom. These planners explore the related configuration space by random sampling. The well-known issue of the sampling- based planners is the narrow passage problem. Narrow passages are small collision-free regions in the configuration space that are, due to their volume, difficult to cover by the random samples. The volume of the narrow passages can be artificially increased by reducing the size of the robot, e.g., by scaling-down its geometry, which increases the probability of placing the random samples into the narrow passages. This allows us to find an approximate solution (trajectory) and use it as a guide to find the solution for a larger robot. Guiding along an approximate solution may, however, fail if this solution leads through such parts of the configuration space that are not reachable or traversable by a larger robot. To improve this guiding process, we propose to compute several approximate solutions leading through different parts of the configuration space, and use all of them to guide the search for a larger robot. We introduce the concept of disabled regions that are prohibited from the exploration using the sampling process. The disabled regions are defined using trajectories already found in the space being searched. The proposed method can solve planning problems with narrow passages with higher success rate than other state-of-the-art planners.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20205 - Automation and control systems

Project

<a href="/en/project/GJ19-22555Y" target="_blank" >GJ19-22555Y: Sampling-based planning of actions and motions using approximate solutions</a><br>

Continuities

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

Publication year

2019

Confidentiality

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

Article name in the collection

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ISBN

978-1-7281-4004-9

ISSN

2153-0858

e-ISSN

2153-0866

Number of pages

8

Pages from-to

1480-1487

Publisher name

IEEE

Place of publication

Piscataway, NJ

Event location

Macau

Event date

Nov 4, 2019

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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