Simultaneous planning of sampling and optimization: study on lazy evaluation and configuration free space approximation for optimal motion planning algorithm
Simultaneous planning of sampling and optimization: study on lazy evaluation and configuration free space approximation for optimal motion planning algorithm
复制标题
采样与优化同时规划：最优运动规划算法的惰性评估和配置自由空间近似研究
作者：
Donghyuk Kim;Sung
最优运动规划的最新趋势已将研究领域扩展到采样、优化和基于网格的方法的混合。这种集成的协同作用有望带来整体性能的提升，但无缝集成和泛化仍然是一个悬而未决的问题。在本文中，我们提出了一种利用采样和优化技术的混合运动规划算法，同时近似无配置空间。与传统的基于优化的方法不同，所提出的算法不依赖于先验信息或分辨率完整因素，例如距离场。相反，我们的系统通过利用执行过程中发现的经验碰撞来动态学习空间信息，并将信息分散到构建的图表上以提供有效的参考。借助学习到的信息，我们将构建的搜索图与近似的无配置空间相关联，以便我们基于优化的局部规划器利用局部区域来识别自由空间的连通性，而不依赖于预先计算的工作空间信息。为了展示所提出算法的新颖性，我们将所提出的思想应用于具有惰性碰撞检查的渐近最优规划器；惰性 PRM*documentclass[12pt]{minimal} usepackage{amsmath} usepackage{wasysym} usepackage{amsfonts} usepackage{amssymb} usepackage{amsbsy} usepackage{mathrsfs} usepackage{upgreek} setlength{oddsidemargin}{-69pt} egin{document}$$^*$$end{document} 和 Batch Informed Tree*documentclass[12pt]{minimal} usepackage{amsmath} usepackage{wasysym} usepackage{amsfonts} usepackage{amssymb} usepackage{amsbsy} usepackage{mathrsfs} usepackage{upgreek} setlength{oddsidemargin}{-69pt} egin{document}$$^*$$end{document}，并在合成和实用方面与其他最先进的技术进行评估具有不同自由度的基准。我们还讨论了延迟碰撞检查的不同算法框架的性能分析、特性以及我们的近似方法。
A recent trend in optimal motion planning has broadened the research area toward the hybridization of sampling, optimization, and grid-based approaches. A synergy from such integrations can be expected to bring the overall performance improvement, but seamless integration and generalization is still an open problem. In this paper, we suggest a hybrid motion planning algorithm utilizing both sampling and optimization techniques, while simultaneously approximating a configuration-free space. Unlike conventional optimization-based approaches, the proposed algorithm does not depend on a priori information or resolution-complete factors, e.g., a distance field. Ours instead learns spatial information on the fly by exploiting empirical collisions found during the execution, and decentralizes the information over the constructed graph for an efficient reference. With the help of the learned information, we associate the constructed search graph with the approximate configuration-free space so that our optimization-based local planner exploits the local area to identify the connectivity of free space without depending on the precomputed workspace information. To show the novelty of the proposed algorithm, we apply the proposed idea to asymptotic optimal planners with lazy collision checking; lazy PRM∗documentclass[12pt]{minimal} usepackage{amsmath} usepackage{wasysym} usepackage{amsfonts} usepackage{amssymb} usepackage{amsbsy} usepackage{mathrsfs} usepackage{upgreek} setlength{oddsidemargin}{-69pt} egin{document}$$^*$$end{document} and Batch Informed Tree∗documentclass[12pt]{minimal} usepackage{amsmath} usepackage{wasysym} usepackage{amsfonts} usepackage{amssymb} usepackage{amsbsy} usepackage{mathrsfs} usepackage{upgreek} setlength{oddsidemargin}{-69pt} egin{document}$$^*$$end{document}, and evaluate them against other state-of-the-arts in both synthetic and practical benchmarks with varying degrees of freedom. We also discuss the performance analysis, properties of different algorithm frameworks of lazy collision checking and our approximation method.
运动规划中惰性的可证明的优点
DOI：
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发表时间：
2018
期刊：
ICAPS 2018
影响因子：
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作者：
Haghtalab, N.;Mackenzie, S.;Procaccia, A. D.;Salzman, O.;Srinivasa, S.
通讯作者：
Srinivasa, S.