Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments
Continuous-Time Collision Avoidance for Trajectory Optimization in Dynamic Environments
复制标题
动态环境中轨迹优化的连续时间碰撞避免
DOI：
10.1109/iros40897.2019.8967641
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
S. Vijayakumar
中科院分区：
文献类型：
--
作者：
W. Merkt;V. Ivan;S. Vijayakumar
在轨迹优化中考虑碰撞避免的常见公式通常使用预处理环境或仅在离散时间步长处检查和惩罚碰撞。然而，当仅在离散状态下检查时，这需要防止接近障碍物的操纵的大裕度或在复杂环境中增加优化问题的维度的密集时间离散化。尽管如此，在两个有效状态之间的插值/转换中或在具有薄障碍物的环境中仍然可能发生冲突。在这项工作中，我们引入了一个计算成本低廉的连续时间避碰项存在的静态和移动的障碍物。我们的惩罚是基于保守的进步和谐波势场，可以用作现成的非线性规划求解器的成本或约束。由于使用保守推进（碰撞检查）而不是距离计算，我们的方法优于基于有符号距离约束的离散碰撞避免，从而在离散时间规划时实现具有连续时间安全性的平滑运动。我们评估我们提出的连续避碰的情况下，包括移动目标的操纵，移动的机器人，人形机器人的操纵轨迹，和四旋翼机路径规划和比较的基础上谐波势场的罚款条款来自接触法线。
Common formulations to consider collision avoidance in trajectory optimization often use either preprocessed environments or only check and penalize collisions at discrete time steps. However, when only checking at discrete states, this requires either large margins that prevent manipulation close to obstacles or dense time discretization increasing the dimensionality of the optimization problem in complex environments. Nonetheless, collisions may still occur in the interpolation/transition between two valid states or in environments with thin obstacles. In this work, we introduce a computationally inexpensive continuous-time collision avoidance term in presence of static and moving obstacles. Our penalty is based on conservative advancement and harmonic potential fields and can be used as either a cost or constraint in off-the-shelf non-linear programming solvers. Due to the use of conservative advancement (collision checks) rather than distance computations, our method outperforms discrete collision avoidance based on signed distance constraints resulting in smooth motions with continuous-time safety while planning in discrete time. We evaluate our proposed continuous collision avoidance on scenarios including manipulation of moving targets, locomanipulation on mobile robots, manipulation trajectories for humanoids, and quadrotor path planning and compare penalty terms based on harmonic potential fields with ones derived from contact normals.
DOI：
10.1177/0278364920983353
发表时间：
2021
期刊：
The International Journal of Robotics Research
影响因子：
--
作者：
Hauser, Kris
通讯作者：
Hauser, Kris