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Description
We present a parallel Cartesian planning algorithm for redundant robot arms and manipulators. We precompute a roadmap, that takes into account static obstacles in the environment as well as singular configurations. At runtime, multiple paths in this roadmap are computed as initial trajectories for an optimization-based planner that tends to satisfy various constraints corresponding to demands on the trajectory, including end-effector constraints, collision-free, and non-singular. We highlight and compare the performance of our parallel planner using 7-DOF arms with other planning algorithms. To the best of our knowledge, this is the first approach that can compute smooth and collision-free trajectories in complex environments with dynamic obstacles.
Publication
Parallel Cartesian Planning in Dynamic Environments using Constrained Trajectory Planning
Chonhyon Park, Fabian Rabe, Shashank Sharma, Christian Scheurer, Uwe E. Zimmermann, and Dinesh Manocha
IEEE International Conference on Humanoid Robots (HUMANOIDS) 2015, Seoul, Korea, Nov 3-5, 2015
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Video
[MP4]
Related links
Parallel Optimization-based Motion Planning in Dynamic Environments
Motion Planning Research at GAMMA
GAMMA Research Group