RDT+: A Parameter-free Algorithm for Exact Motion Planning

摘要：

In this paper parameter-free concepts for exact motion planning are investigated. With the proposed RDT+ approach the collision detection parameters of a Rapidlyexploring Dense Tree (RDT) are automatically adjusted until an exact solution can be found. For efficient planning discrete collision detection routines are used within the RDT planner and by verifying the results with exact collision detection methods, the RDT+ concept allows to compute motions that are guaranteed collision-free. We show the probabilistic completeness of the proposed planner and present an extension for handling narrow passages. The algorithms are evaluated in different experiments, including narrow passages and high-dimensional planning problems, that are solved in simulation and on the humanoid robot ARMAR-III.

作者: Nikolaus Vahrenkamp Peter Kaiser Tamim Asfour R(u)diger Dillmann

作者单位: Institute for Anthropomatics Karlsruhe Institute of Technology Adenauerring 2,76131 Karlsruhe,Germany

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 715-722

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）