An Interior Point Method Solving Motion Planning Problems with Narrow Passages
An Interior Point Method Solving Motion Planning Problems with Narrow Passages
复制标题
解决狭窄通道运动规划问题的内点法
DOI：
10.1109/ro-man47096.2020.9223504
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
S. Schaal
中科院分区：
文献类型：
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作者：
Jim Mainprice;Nathan D. Ratliff;Marc Toussaint;S. Schaal
运动规划问题的数学解决方案已经研究了五十年。自1969年A* 的发展以来，人们研究了许多方法，传统上分为网格分解，势场或基于采样的方法。在这项工作中，我们专注于使用数值优化，这是欠研究解决运动规划问题。对基于采样的方法缺乏兴趣主要是由于窄通道引入的非凸性。我们解决这个缺点接地的解决方案在微分几何。我们通过一系列关于3自由度和6自由度窄通道问题的实验，证明了显式建模基础黎曼流形如何导致有效的内点非线性规划解决方案。
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.1
DOI：
10.1177/0278364920983353
发表时间：
2021
期刊：
The International Journal of Robotics Research
影响因子：
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作者：
Hauser, Kris
通讯作者：
Hauser, Kris