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Article: High-DOF robots in dynamic environments using incremental trajectory optimization

TitleHigh-DOF robots in dynamic environments using incremental trajectory optimization
Authors
Keywordsdynamic environments
Optimization-based planning
high-DOF
Issue Date2014
Citation
International Journal of Humanoid Robotics, 2014, v. 11, n. 2 How to Cite?
AbstractWe present a novel optimization-based motion planning algorithm for high degree-of-freedom (DOF) robots in dynamic environments. Our approach decomposes the high-dimensional motion planning problem into a sequence of low-dimensional sub-problems. We compute collision-free and smooth paths using optimization-based planning and trajectory perturbation for each sub-problem. The overall algorithm does not require a priori knowledge about global motion or trajectories of dynamic obstacles. Rather, we compute a conservative local bound on the position or trajectory of each obstacle over a short time and use the bound to incrementally compute a collision-free trajectory for the robot. The high-DOF robot is treated as a tightly coupled system, and we incrementally use constrained coordination to plan its motion. We highlight the performance of our planner in simulated environments on robots with tens of DOFs. © 2014 World Scientific Publishing Company.
Persistent Identifierhttp://hdl.handle.net/10722/206266
ISSN
2015 Impact Factor: 0.547
2015 SCImago Journal Rankings: 0.474
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorPark, Chonhyon-
dc.contributor.authorPan, Jia-
dc.contributor.authorManocha, Dinesh-
dc.date.accessioned2014-10-22T01:25:32Z-
dc.date.available2014-10-22T01:25:32Z-
dc.date.issued2014-
dc.identifier.citationInternational Journal of Humanoid Robotics, 2014, v. 11, n. 2-
dc.identifier.issn0219-8436-
dc.identifier.urihttp://hdl.handle.net/10722/206266-
dc.description.abstractWe present a novel optimization-based motion planning algorithm for high degree-of-freedom (DOF) robots in dynamic environments. Our approach decomposes the high-dimensional motion planning problem into a sequence of low-dimensional sub-problems. We compute collision-free and smooth paths using optimization-based planning and trajectory perturbation for each sub-problem. The overall algorithm does not require a priori knowledge about global motion or trajectories of dynamic obstacles. Rather, we compute a conservative local bound on the position or trajectory of each obstacle over a short time and use the bound to incrementally compute a collision-free trajectory for the robot. The high-DOF robot is treated as a tightly coupled system, and we incrementally use constrained coordination to plan its motion. We highlight the performance of our planner in simulated environments on robots with tens of DOFs. © 2014 World Scientific Publishing Company.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Humanoid Robotics-
dc.subjectdynamic environments-
dc.subjectOptimization-based planning-
dc.subjecthigh-DOF-
dc.titleHigh-DOF robots in dynamic environments using incremental trajectory optimization-
dc.typeArticle-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1142/S0219843614410011-
dc.identifier.scopuseid_2-s2.0-84904733813-
dc.identifier.volume11-
dc.identifier.issue2-
dc.identifier.isiWOS:000340432200002-

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