到達可能ベジェ多面体による混雑環境での動的実行可能経路計画
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
到達可能ベジェ多面体を用いて、混雑した非凸空間で衝突回避と動的制約を同時に満たす経路を生成し、GPUオフロードでリアルタイム性を確保する階層制御アーキテクチャを提案。3Dホッピングで実証。
著者: Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and dynamically feasible (i.e., satisfy the underlying system dynamics), necessitating a consideration of both the free space and the dynamics of the robot in the path planning phase. In this work, we explore the application of reachable Bezier polytopes as an efficient tool for generating trajectories satisfying both kinematic and dynamic requirements. Furthermore, we demonstrate that by offloading specific computation tasks to the GPU, such an algorithm can meet tight real time requirements. We propose a layered control architecture that efficiently produces collision free and dynamically feasible paths for nonlinear control systems, and demonstrate the framework on the tasks of 3D hopping in a cluttered environment.
