狭い通路を含む動作計画問題を解く内点法
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
狭い通路での非凸性をリーマン多様体として陽にモデル化し、内点法による非線形最適化で動作計画を解く手法を提案し、3自由度・6自由度の問題で有効性を示した。
著者: Jim Mainprice, Nathan Ratliff, Marc Toussaint, Stefan Schaal
分類: cs.RO, cs.CG
原文アブストラクト
Algorithmic solutions for the motion planning problem have been investigated for five decades. Since the development of A* in 1969 many approaches have been investigated, traditionally classified as either grid decomposition, potential fields or sampling-based. In this work, we focus on using numerical optimization, which is understudied for solving motion planning problems. This lack of interest in the favor of sampling-based methods is largely due to the non-convexity introduced by narrow passages. We address this shortcoming by grounding the solution in differential geometry. We demonstrate through a series of experiments on 3 Dofs and 6 Dofs narrow passage problems, how modeling explicitly the underlying Riemannian manifold leads to an efficient interior-point non-linear programming solution.
