A sampling-based optimized algorithm for task-constrained motion planning

We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization str...

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Published in:International journal of advanced robotic systems Vol. 16; no. 3
Main Authors: Mi, Kai, Zhang, Haojian, Zheng, Jun, Hu, Jianhua, Zhuang, Dengxiang, Wang, Yunkuan
Format: Journal Article
Language:English
Published: London, England SAGE Publications 01.05.2019
Sage Publications Ltd
SAGE Publishing
Subjects:
Algorithms
Asymptotic properties
Constraints
Dynamic programming
Feasibility
Kinematics
Motion planning
Optimization
Random sampling
Sampling methods
Task space
Tracking errors
path planning
Redundant manipulators
task space constraints
sampling based
asymptotically optimization
ISSN:1729-8806, 1729-8814
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Abstract We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.
AbstractList We consider a motion planning problem with task space constraints in a complex environment for redundant manipulators. For this problem, we propose a motion planning algorithm that combines kinematics control with rapidly exploring random sampling methods. Meanwhile, we introduce an optimization structure similar to dynamic programming into the algorithm. The proposed algorithm can generate an asymptotically optimized smooth path in joint space, which continuously satisfies task space constraints and avoids obstacles. We have confirmed that the proposed algorithm is probabilistically complete and asymptotically optimized. Finally, we conduct multiple experiments with path length and tracking error as optimization targets and the planning results reflect the optimization effect of the algorithm.
Author Wang, Yunkuan
Zhang, Haojian
Mi, Kai
Zheng, Jun
Hu, Jianhua
Zhuang, Dengxiang
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Issue 3
Keywords path planning
Redundant manipulators
task space constraints
sampling based
asymptotically optimization
Language English
License This article is distributed under the terms of the Creative Commons Attribution 4.0 License (http://www.creativecommons.org/licenses/by/4.0/) which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (https://us.sagepub.com/en-us/nam/open-access-at-sage).
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SubjectTerms Algorithms
Asymptotic properties
Constraints
Dynamic programming
Feasibility
Kinematics
Motion planning
Optimization
Random sampling
Sampling methods
Task space
Tracking errors
Title A sampling-based optimized algorithm for task-constrained motion planning
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