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Article: Motion planning with sequential convex optimization and convex collision checking
Title | Motion planning with sequential convex optimization and convex collision checking |
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Authors | |
Keywords | convex collision checking Motion planning sequential convex optimization trajectory optimization |
Issue Date | 2014 |
Citation | International Journal of Robotics Research, 2014, v. 33, n. 9, p. 1251-1270 How to Cite? |
Abstract | We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our algorithm can be used to find collision-free trajectories from naïve, straight-line initializations that might be in collision. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (b) an efficient formulation of the no-collisions constraint that directly considers continuous-time safety Our algorithm is implemented in a software package called TrajOpt.We report results from a series of experiments comparing TrajOpt with CHOMP and randomized planners from OMPL, with regard to planning time and path quality. We consider motion planning for 7 DOF robot arms, 18 DOF full-body robots, statically stable walking motion for the 34 DOF Atlas humanoid robot, and physical experiments with the 18 DOF PR2. We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE(3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary brachytherapy. Details, videos, and source code are freely available at: http://rll.berkeley.edu/trajopt/ijrr. |
Persistent Identifier | http://hdl.handle.net/10722/308850 |
ISSN | 2023 Impact Factor: 7.5 2023 SCImago Journal Rankings: 4.346 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Schulman, John | - |
dc.contributor.author | Duan, Yan | - |
dc.contributor.author | Ho, Jonathan | - |
dc.contributor.author | Lee, Alex | - |
dc.contributor.author | Awwal, Ibrahim | - |
dc.contributor.author | Bradlow, Henry | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Patil, Sachin | - |
dc.contributor.author | Goldberg, Ken | - |
dc.contributor.author | Abbeel, Pieter | - |
dc.date.accessioned | 2021-12-08T07:50:15Z | - |
dc.date.available | 2021-12-08T07:50:15Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | International Journal of Robotics Research, 2014, v. 33, n. 9, p. 1251-1270 | - |
dc.identifier.issn | 0278-3649 | - |
dc.identifier.uri | http://hdl.handle.net/10722/308850 | - |
dc.description.abstract | We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our algorithm can be used to find collision-free trajectories from naïve, straight-line initializations that might be in collision. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (b) an efficient formulation of the no-collisions constraint that directly considers continuous-time safety Our algorithm is implemented in a software package called TrajOpt.We report results from a series of experiments comparing TrajOpt with CHOMP and randomized planners from OMPL, with regard to planning time and path quality. We consider motion planning for 7 DOF robot arms, 18 DOF full-body robots, statically stable walking motion for the 34 DOF Atlas humanoid robot, and physical experiments with the 18 DOF PR2. We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE(3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary brachytherapy. Details, videos, and source code are freely available at: http://rll.berkeley.edu/trajopt/ijrr. | - |
dc.language | eng | - |
dc.relation.ispartof | International Journal of Robotics Research | - |
dc.subject | convex collision checking | - |
dc.subject | Motion planning | - |
dc.subject | sequential convex optimization | - |
dc.subject | trajectory optimization | - |
dc.title | Motion planning with sequential convex optimization and convex collision checking | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1177/0278364914528132 | - |
dc.identifier.scopus | eid_2-s2.0-84910046467 | - |
dc.identifier.volume | 33 | - |
dc.identifier.issue | 9 | - |
dc.identifier.spage | 1251 | - |
dc.identifier.epage | 1270 | - |
dc.identifier.eissn | 1741-3176 | - |
dc.identifier.isi | WOS:000342793400006 | - |