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- Publisher Website: 10.1142/S0219843614410011
- Scopus: eid_2-s2.0-84904733813
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Article: High-DOF robots in dynamic environments using incremental trajectory optimization
Title | High-DOF robots in dynamic environments using incremental trajectory optimization |
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Authors | |
Keywords | dynamic environments Optimization-based planning high-DOF |
Issue Date | 2014 |
Citation | International Journal of Humanoid Robotics, 2014, v. 11, n. 2 How to Cite? |
Abstract | We 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 Identifier | http://hdl.handle.net/10722/206266 |
ISSN | 2023 Impact Factor: 0.9 2023 SCImago Journal Rankings: 0.376 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Park, Chonhyon | - |
dc.contributor.author | Pan, Jia | - |
dc.contributor.author | Manocha, Dinesh | - |
dc.date.accessioned | 2014-10-22T01:25:32Z | - |
dc.date.available | 2014-10-22T01:25:32Z | - |
dc.date.issued | 2014 | - |
dc.identifier.citation | International Journal of Humanoid Robotics, 2014, v. 11, n. 2 | - |
dc.identifier.issn | 0219-8436 | - |
dc.identifier.uri | http://hdl.handle.net/10722/206266 | - |
dc.description.abstract | We 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.language | eng | - |
dc.relation.ispartof | International Journal of Humanoid Robotics | - |
dc.subject | dynamic environments | - |
dc.subject | Optimization-based planning | - |
dc.subject | high-DOF | - |
dc.title | High-DOF robots in dynamic environments using incremental trajectory optimization | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1142/S0219843614410011 | - |
dc.identifier.scopus | eid_2-s2.0-84904733813 | - |
dc.identifier.volume | 11 | - |
dc.identifier.issue | 2 | - |
dc.identifier.isi | WOS:000340432200002 | - |
dc.identifier.issnl | 0219-8436 | - |