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- Publisher Website: 10.1109/ROBOT.2010.5509774
- Scopus: eid_2-s2.0-77955789903
- WOS: WOS:000284150004048
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Conference Paper: Retraction-based RRT planner for articulated models
Title | Retraction-based RRT planner for articulated models |
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Authors | |
Issue Date | 2010 |
Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2010, p. 2529-2536 How to Cite? |
Abstract | We present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step is formulated as a constrained optimization problem and performs iterative refinement on the boundary of C-Obstacle space. We also combine the retraction algorithm with decomposition planners to handle very high DOF articulated models. The performance of our approach is analyzed using Voronoi diagrams and we show that our retraction algorithm provides a good approximation to the ideal RRT-extension in constrained environments. We have implemented our algorithm and tested its performance on robots with more than 40 DOFs in complex environments. In practice, we observe significant performance (2-80X) improvement over prior RRT planners on challenging scenarios with narrow passages. ©2010 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/206242 |
ISSN | 2023 SCImago Journal Rankings: 1.620 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Zhang, Liangjun | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2014-10-22T01:25:30Z | - |
dc.date.available | 2014-10-22T01:25:30Z | - |
dc.date.issued | 2010 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2010, p. 2529-2536 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206242 | - |
dc.description.abstract | We present a new retraction algorithm for high DOF articulated models and use our algorithm to improve the performance of RRT planners in narrow passages. The retraction step is formulated as a constrained optimization problem and performs iterative refinement on the boundary of C-Obstacle space. We also combine the retraction algorithm with decomposition planners to handle very high DOF articulated models. The performance of our approach is analyzed using Voronoi diagrams and we show that our retraction algorithm provides a good approximation to the ideal RRT-extension in constrained environments. We have implemented our algorithm and tested its performance on robots with more than 40 DOFs in complex environments. In practice, we observe significant performance (2-80X) improvement over prior RRT planners on challenging scenarios with narrow passages. ©2010 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.title | Retraction-based RRT planner for articulated models | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/ROBOT.2010.5509774 | - |
dc.identifier.scopus | eid_2-s2.0-77955789903 | - |
dc.identifier.spage | 2529 | - |
dc.identifier.epage | 2536 | - |
dc.identifier.isi | WOS:000284150004048 | - |
dc.identifier.issnl | 1050-4729 | - |