用可达贝塞尔多面体快速生成动态可行路径
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
- 基于可达贝塞尔多面体构建高效路径规划框架
- 在复杂环境中实现3D跳跃任务的实时动态可行性路径
- 适合需要高实时性与动态约束的非线性机器人系统
实际环境中的机器人部署要求在杂乱、非凸空间中快速生成路径。这些轨迹必须同时满足运动学可行性（无碰撞）和动力学可行性（符合系统动力学），因此需在路径规划阶段综合考虑自由空间与机器人动力学特性。本文探索了可达贝塞尔多面体作为高效工具，用于生成同时满足运动学与动力学要求的轨迹。此外，通过将特定计算任务卸载至GPU，该算法可满足严格的实时需求。我们提出了一种分层控制架构，能高效生成适用于非线性控制系统、无碰撞且动力学可行的路径，并在3D跳跃任务中验证了该框架的有效性。
原文摘要 · Abstract (English)
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and dynamically feasible (i.e., satisfy the underlying system dynamics), necessitating a consideration of both the free space and the dynamics of the robot in the path planning phase. In this work, we explore the application of reachable Bezier polytopes as an efficient tool for generating trajectories satisfying both kinematic and dynamic requirements. Furthermore, we demonstrate that by offloading specific computation tasks to the GPU, such an algorithm can meet tight real time requirements. We propose a layered control architecture that efficiently produces collision free and dynamically feasible paths for nonlinear control systems, and demonstrate the framework on the tasks of 3D hopping in a cluttered environment.
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