Towards reactive whole-body motion planning in cluttered environments by precomputing feasible motion spaces
Towards reactive whole-body motion planning in cluttered environments by precomputing feasible motion spaces
复制标题
通过预先计算可行的运动空间，在杂乱的环境中实现反应式全身运动规划
DOI：
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发表时间：
2013
期刊：
影响因子：
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通讯作者：
O. Stasse
中科院分区：
文献类型：
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作者：
A. Orthey;O. Stasse
为了近乎实时地解决复杂的全身运动规划问题，我们认为有必要预先计算尽可能多的信息，包括我们预期的运动以及它们如何影响几何推理过程。在本文中，我们重点关注离散接触规划背景下接触转换可行性的预计算。我们的贡献有两个：首先，我们引入了接触过渡和对象（CTO）空间，即接触状态和几何信息的联合空间。其次，我们开发了一种算法来预先计算 CTO 空间中可行空间和不可行空间之间的决策边界。该边界用于经典接触过渡空间中的在线规划，以快速修剪可能的未来状态的数量。通过使用 A* 的经典规划设置和 l2 范数启发式，我们演示了有关对象几何形状的先验知识如何在高度混乱的环境中实现近乎实时的性能，从而不仅优于最先进的算法，而且还具有显着较低的模型稀疏性。
To solve complex whole-body motion planning problems in near real-time, we think it essentials to precompute as much information as possible, including our intended movements and how they affect the geometrical reasoning process. In this paper, we focus on the precomputation of the feasibility of contact transitions in the context of discrete contact planning. Our contribution is two-fold: First, we introduce the contact transition and object (CTO) space, a joint space of contact states and geometrical information. Second, we develop an algorithm to precompute the decision boundary between feasible and non-feasible spaces in the CTO space. This boundary is used for online-planning in classical contact-transition spaces to quickly prune the number of possible future states. By using a classical planning setup of A* together with a l2-norm heuristic, we demonstrate how the prior knowledge about object geometries can achieve near real-time performance in highly-cluttered environments, thereby not only outperforming the state-of-the-art algorithm, but also having a significantly lower model sparsity.