Hierarchical Roadmap Based Rapid Path Planning for High-DOF Mobile Manipulators in Complex Environments
The Probabilistic Roadmap method (PRM) has been widely used in the field of robot path planning and based on it, a great number of variants have been developed addressing for different purposes, e.g. the Lazy PRM method, the Dynamic Roadmap (DRM) method, and the Dynamic Bridge Builder method (DBB). In this paper, PRM is extended as well-a hierarchical roadmap based rapid path planner is presented, which combines DRM with DBB to achieve good planning performance in environments including moveable obstacles. Through observation, we find that how to determine precise location of a robots end-effector is quite important for nearly all practical planning tasks. Moreover, the workspace that can be swept by its end-effector determines scope of action of a robot. In consideration of the safety factor, the velocity of planning should be limited. Accordingly, its scope of action must be limited during a certain time interval, as well. In this paper, a hierarchy sampling strategy oriented towards the end-effector position is employed. Initially only a fundamental global roadmap is constructed and visible. Then the scope of a manipulator, called manipulator space in this paper, is computed. Moveable obstacles lying inside the manipulation space are used to update the global roadmap and activate other two layers of nodes with Dynamic Bridge Builder. The approach has been implemented and tested in simulation, and results show that it meets the real-time demand well.
Hong Liu Yan Li He Wen Jingyan Xia Tianguang Chu
Key Laboratory of Machine Perception and Intelligence and the Key Laboratory of Integrated Micro-sys Key Laboratory of Integrated Microsystem,Shenzhen Graduate School,Peking University,Shenzhen 518055 Intelligent Control Laboratory,Center for Systems and Control,Department of Industrial Engineering a
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
189-195
2009-12-19（万方平台首次上网日期，不代表论文的发表时间）