Continuous Motion Planning for Service Robots with Multiresolution in Time
Continuous Motion Planning for Service Robots with Multiresolution in Time
复制标题
具有时间多分辨率的服务机器人连续运动规划
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Sven Behnke
中科院分区：
文献类型：
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作者：
Ricarda Steffens;Matthias Nieuwenhuisen;Sven Behnke
我们提出了一种方法，连续运动规划与多分辨率的时间。我们的方法是基于随机轨迹优化运动规划（STOMP），旨在减少优化时间，以使频繁的重新规划。由于服务机器人在具有动态障碍物的环境中操作，因此规划的轨迹可能随着时间的推移而变得无效。因此，不需要提供具有均匀高分辨率的轨迹。我们的多分辨率方法隐含地考虑了未来的不确定性，通过提供一个逐渐粗糙的时间表，这是细化槽重新规划的轨迹。除了采用时间多分辨率，我们加快了轨迹优化初始化重新规划与以前的计划。建议的多分辨率STOMP进行评估，在模拟中相比，原来的STOMP实现。我们的实验表明，多分辨率STOMP减少了规划时间，因此，能够避免动态障碍。
We present an approach to continuous motion planning with multiresolution in time. Our approach is based on stochastic trajectory optimization for motion planning (STOMP) and designed to decrease the optimization time in order to enable frequent replanning. Since service robots operate in environments with dynamic obstacles, it is likely that planned trajectories become invalid over time. Thus, it is not necessary to provide trajectories with a uniform high resolution. Our multiresolutional approach implicitly considers the uncertainty of the future by providing a trajectory with a gradually coarser schedule, which is refined trough replanning. In addition to employing temporal multiresolution, we speed up trajectory optimization by initializing replanning with the previous plan. The proposed multiresolution STOMP is evaluated in simulation in comparison to the original STOMP implementation. Our experiments show that multiresolution STOMP reduces the planning time and, hence, is able to avoid dynamic obstacles.