اشترك بالحزمة الذهبية واحصل على وصول غير محدود شمرا أكاديميا
تسجيل مستخدم جديدKinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints
157
0
0.0
(
0
)
اسأل ChatGPT حول البحث
ﻻ يوجد ملخص باللغة العربية
We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et al. 2011), by using a fixed-final-state-free-final-time controller that exactly and optimally connects any pair of states, where the cost function is expressed as a trade-off between the duration of a trajectory and the expended control effort. Our approach generalizes earlier work on extending RRT* to kinodynamic systems, as it guarantees asymptotic optimality for any system with controllable linear dynamics, in state spaces of any dimension. Our approach can be applied to non-linear dynamics as well by using their first-order Taylor approximations. In addition, we show that for the rich subclass of systems with a nilpotent dynamics matrix, closed-form solutions for optimal trajectories can be derived, which keeps the computational overhead of our algorithm compared to traditional RRT* at a minimum. We demonstrate the potential of our approach by computing asymptotically optimal trajectories in three challenging motion planning scenarios: (i) a planar robot with a 4-D state space and double integrator dynamics, (ii) an aerial vehicle with a 10-D state space and linearized quadrotor dynamics, and (iii) a car-like robot with a 5-D state space and non-linear dynamics.
قيم البحث
اقرأ أيضاً
Kinodynamic Motion Planning (KMP) is to find a robot motion subject to concurrent kinematics and dynamics constraints. To date, quite a few methods solve KMP problems and those that exist struggle to find near-optimal solutions and exhibit high compu
tational complexity as the planning space dimensionality increases. To address these challenges, we present a scalable, imitation learning-based, Model-Predictive Motion Planning Networks framework that quickly finds near-optimal path solutions with worst-case theoretical guarantees under kinodynamic constraints for practical underactuated systems. Our framework introduces two algorithms built on a neural generator, discriminator, and a parallelizable Model Predictive Controller (MPC). The generator outputs various informed states towards the given target, and the discriminator selects the best possible subset from them for the extension. The MPC locally connects the selected informed states while satisfying the given constraints leading to feasible, near-optimal solutions. We evaluate our algorithms on a range of cluttered, kinodynamically constrained, and underactuated planning problems with results indicating significant improvements in computation times, path qualities, and success rates over existing methods.
This paper presents a sampling-based method for optimal motion planning in non-holonomic systems in the absence of known cost functions. It uses the principle of learning through experience to deduce the cost-to-go of regions within the workspace. Th
is cost information is used to bias an incremental graph-based search algorithm that produces solution trajectories. Iterative improvement of cost information and search biasing produces solutions that are proven to be asymptotically optimal. The proposed framework builds on incremental Rapidly-exploring Random Trees (RRT) for random sampling-based search and Reinforcement Learning (RL) to learn workspace costs. A series of experiments were performed to evaluate and demonstrate the performance of the proposed method.
Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically. However, the convergence rate can be slow for highdimensional planni
ng problems, particularly for dynamical systems where the sampling space is not just the configuration space but the full state space. In this paper, we introduce the idea of using a partial-final-state-free (PFF) optimal controller in kinodynamic RRT* [1] to reduce the dimensionality of the sampling space. Instead of sampling the full state space, the proposed accelerated kinodynamic RRT*, called Kino-RRT*, only samples part of the state space, while the rest of the states are selected by the PFF optimal controller. We also propose a delayed and intermittent update of the optimal arrival time of all the edges in the RRT* tree to decrease the computation complexity of the algorithm. We tested the proposed algorithm using 4-D and 10-D state-space linear systems and showed that Kino-RRT* converges much faster than the kinodynamic RRT* algorithm.
For a nonlinear system (e.g. a robot) with its continuous state space trajectories constrained by a linear temporal logic specification, the synthesis of a low-level controller for mission execution often results in a non-convex optimization problem.
We devise a new algorithm to solve this type of non-convex problems by formulating a rapidly-exploring random tree of barrier pairs, with each barrier pair composed of a quadratic barrier function and a full state feedback controller. The proposed method employs a rapid-exploring random tree to deal with the non-convex constraints and uses barrier pairs to fulfill the local convex constraints. As such, the method solves control problems fulfilling the required transitions of an automaton in order to satisfy given linear temporal logic constraints. At the same time it synthesizes locally optimal controllers in order to transition between the regions corresponding to the alphabet of the automaton. We demonstrate this new algorithm on a simulation of a two linkage manipulator robot.
We integrate sampling-based planning techniques with funnel-based feedback control to develop KDF, a new framework for solving the kinodynamic motion-planning problem via funnel control. The considered systems evolve subject to complex, nonlinear, an
d uncertain dynamics (aka differential constraints). Firstly, we use a geometric planner to obtain a high-level safe path in a user-defined extended free space. Secondly, we develop a low-level funnel control algorithm that guarantees safe tracking of the path by the system. Neither the planner nor the control algorithm use information on the underlying dynamics of the system, which makes the proposed scheme easily distributable to a large variety of different systems and scenarios. Intuitively, the funnel control module is able to implicitly accommodate the dynamics of the system, allowing hence the deployment of purely geometrical motion planners. Extensive computer simulations and experimental results with a 6-DOF robotic arm validate the proposed approach.
سجل دخول لتتمكن من نشر تعليقات
التعليقات
جاري جلب التعليقات
سجل دخول لتتمكن من متابعة معايير البحث التي قمت باختيارها
