怠惰の美徳：遅延手法によるマルチクエリ運動力学プランニング
The Virtues of Laziness: Multi-Query Kinodynamic Motion Planning with Lazy Methods
ロボットの状態と制御空間を同時に探索し、衝突判定と制御列伝播を遅延させることで、動的タスクのマルチクエリ運動力学プランニングを高速化・高成功率化するLazyBoEを提案。
著者: Anuj Pasricha, Alessandro Roncone
分類: cs.RO
原文アブストラクト
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.
