Timed-elastic bands for manipulation motion planning
Cita com:
hdl:2117/182055
Tipus de documentArticle
Data publicació2019-10-01
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
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Abstract
Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon.
Descripció
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CitacióMagyar, B. [et al.]. Timed-elastic bands for manipulation motion planning. "IEEE robotics and automation letters", 1 Octubre 2019, vol. 4, núm. 4, p. 3513-3520.
ISSN2377-3766
Versió de l'editorhttps://ieeexplore.ieee.org/document/8758897
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2302-Timed-Elas ... lation-Motion-Planning.pdf | 1,805Mb | Visualitza/Obre |