ワークスペース制約充足と最適化によるロボット経路計画
Planning through Workspace Constraint Satisfaction and Optimization
ロボットの状態をワークスペース上のキーポイントで表し、幾何情報を活用して衝突のない経路を生成する計画フレームワークを提案した。区分的線形経路を初期解として最適化することで、高速かつ高品質な経路を得られる。
著者: Weifu Wang, Ping Li
分類: cs.RO
原文アブストラクト
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free paths for even complex robots. Using workspace geometries, we first find collision-free piece-wise linear paths for each key point so that at the endpoints of each segment, the distance constraints are satisfied among the key points. Using these piece-wise linear paths as initial conditions, we can perform optimization steps to quickly find paths that satisfy various constraints and piece together all segments to obtain a valid path. We show that these adjusted paths are unlikely to create a collision, and the proposed approach is fast and can produce good quality results.
