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Pré-Publication, Document De Travail Année : 2015

A simple path optimization method for motion planning

Résumé

Most algorithms in probabilistic sampling-based path planning compute collision-free paths made of straight line segments lying in the configuration space. Due to the randomness of sampling, the paths make detours that need to be optimized. The contribution of this paper is to propose a gradient-based algorithm that transforms a polygonal collision-free path into a shorter one, while both: requiring only collision checking, and not any time-consuming obstacle distance computation, and constraining only part of the configuration variables that may cause a collision, and not the entire configurations. Moreover, the algorithm is simple and requires few parameter tuning. Experimental results include navigation and manipulation tasks, e.g. a PR2 robot working in a kitchen environment and a sliding HRP2 robot.
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Dates et versions

hal-01137844 , version 1 (31-03-2015)
hal-01137844 , version 2 (23-10-2015)

Identifiants

  • HAL Id : hal-01137844 , version 1

Citer

Mylène Campana, Florent Lamiraux, Jean-Paul Laumond. A simple path optimization method for motion planning. 2015. ⟨hal-01137844v1⟩
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