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Clearance Based Path Optimization for Motion Planning Roland Geraerts and Mark Overmars ICRA 2004.

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Presentation on theme: "Clearance Based Path Optimization for Motion Planning Roland Geraerts and Mark Overmars ICRA 2004."— Presentation transcript:

1 Clearance Based Path Optimization for Motion Planning Roland Geraerts and Mark Overmars ICRA 2004

2 Problem setting Low quality paths Often long detours Discontinuity Unnecessary motions Quality criteria Length Clearance Combination

3 Path Quality – Length Post processing Path pruning Shortcut Partial shortcut

4 Path Quality – Length Path pruning Fast and simple heuristic Translational dist. improves considerably Rotation is more difficult to remove

5 Path Quality – Length Shortcut More general than path pruning Simple technique Fast convergence

6 Path Quality – Length Weakness of the shortcut heuristic Path can still contain many redundant (rotational) motions Creating shortcuts on large portions will fail Partial shortcut Query pathShortcutPartial shortcut

7 Path Quality – Clearance Method Remove redundant nodes Retract path to medial axis Remove branches Can help improving path length Query pathRetracted pathNo branches

8 Path Quality – Clearance Retract path to medial axis Retract sample to medial axis d 2 x d 4 x d

9 Path Quality – Clearance Retract path to medial axis Maximum stepsize s between samples

10 Path Quality – Clearance Retract path to medial axis Redundant branches redundant branch

11 Path Quality – Clearance Remove redundant branches Maximum step size

12 Path Quality – Combination Technique Retract path to medial axis Increase size of robots Create partial shortcuts Result Reasonable short path Path has a particular minimum amount of clearance where it is possible

13 Experimental Setup – Path Length Environment SAMPLE 3 test scenes/paths Focus Free flying objects Post processing

14 Experiments – Simple Corridor Simple scene, cylinder Many motions are redundant Redundant motions are easy to remove

15 Experiments – Simple Corridor Simple scene, cylinder Many motions are redundant Redundant motions are easy to remove 400% 27% 16%14% 1%2%0%

16 Experiments – Corridor Elbow shaped object is forced to rotate Little clearance to corridors

17 Experiments – Corridor Elbow shaped object is forced to rotate Little clearance to corridors 256% 65% 24% 11% 5%0%

18 Experiments – Hole Object must rotate to get through the hole Clearance is small inside the hole

19 Experiments – Hole Object must rotate to get through the hole Clearance is small inside the hole 41% 14% 0% 184% 112% 36% 23%

20 Future Work Extension to other robot types Preprocessing techniques

21 Questions Home page: Mail:


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