DeepAI AI Chat
Log In Sign Up

A Homotopy Method for Motion Planning

01/29/2019
by   Shenyu Liu, et al.
University of Illinois at Urbana-Champaign
0

We propose a novel method for motion planning and illustrate its implementation on several canonical examples. The core novel idea underlying the method is to define a metric for which a path of minimal length is an admissible path, that is path that respects the various constraints imposed by the environment and the physics of the system on its dynamics. To be more precise, our method takes as input a control system with holonomic and non-holonomic constraints, an initial and final point in configuration space, a description of obstacles to avoid, and an initial trajectory for the system, called a sketch. This initial trajectory does not need to meet the constraints, except for the obstacle avoidance constraints. The constraints are then encoded in an inner product, which is used to deform (via a homotopy) the initial sketch into an admissible trajectory from which controls realizing the transfer can be obtained. We illustrate the method on various examples, including vehicle motion with obstacles and a two-link manipulator problem.

READ FULL TEXT

page 1

page 2

page 3

page 4

04/27/2022

Minimum Displacement Motion Planning for Movable Obstacles

This paper presents a minimum displacement motion planning problem where...
09/19/2017

Parameterization of configuration space obstacles in three-dimensional rotational motion planning

This study investigates the exact geometry of the configuration space in...
02/09/2022

A Circle Grid-based Approach for Obstacle Avoidance Motion Planning of Unmanned Surface Vehicles

Aiming at an obstacle avoidance problem with dynamic constraints for Unm...
01/20/2021

Geometric Heat Flow Method for Legged Locomotion Planning

We propose in this paper a motion planning method for legged robot locom...
07/10/2022

Spatiotemporal motion planning with combinatorial reasoning for autonomous driving

Motion planning for urban environments with numerous moving agents can b...
02/28/2019

A Roadmap-Path Reshaping Algorithm for Real-Time Motion Planning

Real-time motion planning is a vital function of robotic systems. Differ...
10/16/2020

Piecewise-Linear Motion Planning amidst Static, Moving, or Morphing Obstacles

We propose a novel method for planning shortest length piecewise-linear ...