通过渐进式约束插值，高效解决狭窄通道路径规划难题
Narrow Passage Path Planning using Collision Constraint Interpolation
- 将环境分解为凸体，逐步引入碰撞约束
- 通过约束插值避免优化失败，确保路径可行性
- 适合工业与家庭场景中的复杂狭窄空间规划
狭窄通道路径规划在工业与家庭场景中普遍存在，常面临路径不可行或计算资源消耗过大的问题。由于深入环境可能导致优化失败，本文提出一种框架，通过一系列针对狭窄通道问题设计的子问题，确保全过程的可行性。首先将环境分解为凸物体，并用部分物体初始化碰撞约束。随后在逐步引入剩余物体的过程中，持续插值碰撞约束，生成引导优化求解狭窄通道问题的子问题。多个案例展示了该框架在解决狭窄通道路径规划问题上的有效性。
原文摘要 · Abstract (English)
Narrow passage path planning is a prevalent problem from industrial to household sites, often facing difficulties in finding feasible paths or requiring excessive computational resources. Given that deep penetration into the environment can cause optimization failure, we propose a framework to ensure feasibility throughout the process using a series of subproblems tailored for narrow passage problem. We begin by decomposing the environment into convex objects and initializing collision constraints with a subset of these objects. By continuously interpolating the collision constraints through the process of sequentially introducing remaining objects, our proposed framework generates subproblems that guide the optimization toward solving the narrow passage problem. Several examples are presented to demonstrate how the proposed framework addresses narrow passage path planning problems.
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