Log-space harmonic function path planning
Log-space harmonic function path planning
复制标题
对数空间调和函数路径规划
DOI：
10.1109/iros.2016.7759245
复制
发表时间：
2016
期刊：
影响因子：
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通讯作者：
S. Zilberstein
中科院分区：
文献类型：
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作者：
K. H. Wray;Dirk Ruiken;R. Grupen;S. Zilberstein
针对机器人路径规划中长期存在的数值精度问题，提出了一种基于调和函数的对数空间路径规划方法。我们证明了该算法：(1)在对数空间中执行正确的计算，(2)使用对数空间映射返回真实的等价路径，(3)在给定的收敛准则下具有很强的误差界。我们在7个问题域上对该算法进行了评估。图形处理单元(GPU)的实现也显示了极大地提高了性能。我们还提供了一个名为EPIC的开源库，并提供了广泛的ROS支持，并在一个真实的类人机器人uBot-6上演示了这种方法。实验表明，该方法能够快速生成平滑的避障轨迹，并支持指数级规模机器人应用中的规划。
We propose a log-space solution for robotic path planning with harmonic functions that solves the long-standing numerical precision problem. We prove that this algorithm: (1) performs the correct computations in log-space, (2) returns the true equivalent path using the log-space mapping, and (3) has a strong error bound given its convergence criterion. We evaluate the algorithm on 7 problem domains. A Graphics Processing Unit (GPU) implementation is also shown to greatly improve performance. We also provide an open source library entitled epic with extensive ROS support and demonstrate this method on a real humanoid robot: the uBot-6. Experiments demonstrate that the log-space solution rapidly produces smooth obstacle-avoiding trajectories, and supports planning in exponentially larger real-world robotic applications.