为高自由度机械臂设计高效动态避障路径规划方法。
Safe Interval Randomized Path Planning For Manipulators
- 结合安全区间与双向RRT，实现高效动态环境路径搜索。
- 在真实时间与路径成本上均优于现有最优算法。
- 适合需要实时避障的工业机械臂应用。
为高自由度机器人系统（如机械臂）在3D工作空间中规划安全路径是一项挑战性任务，尤其当环境中存在需规避的动态障碍物时，必须考虑时间维度，这进一步增加了规划复杂性。为此，本文提出将安全区间路径规划（一种启发式搜索中的有效技术）与随机规划相结合，具体采用双向快速探索随机树（RRT-Connect）——一种高效的高维规划算法。通过专用的快速安全区间计算技术，构建出名为SI-RRT的高效规划器。实验表明，该方法在运行时间和路径代价方面均持续优于当前最先进的方案。SI-RRT的实现已开源，地址为 https://github.com/PathPlanning/ManipulationPlanning-SI-RRT。
原文摘要 · Abstract (English)
Planning safe paths in 3D workspace for high DoF robotic systems, such as manipulators, is a challenging problem, especially when the environment is populated with the dynamic obstacles that need to be avoided. In this case the time dimension should be taken into account that further increases the complexity of planning. To mitigate this issue we suggest to combine safe-interval path planning (a prominent technique in heuristic search) with the randomized planning, specifically, with the bidirectional rapidly-exploring random trees (RRT-Connect) - a fast and efficient algorithm for high-dimensional planning. Leveraging a dedicated technique of fast computation of the safe intervals we end up with an efficient planner dubbed SI-RRT. We compare it with the state of the art and show that SI-RRT consistently outperforms the competitors both in runtime and solution cost. Our implementation of SI-RRT is publicly available at https://github.com/PathPlanning/ManipulationPlanning-SI-RRT
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