A Motion Planning Algorithm Based on Trajectory Optimization with Workspace Goal Region | |
Mi, Kai1,2; Hao, Peng1,2; Zheng, Jun1; Wang, Yunkkuan1; Hu, Jianhua1 | |
2019-08 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议日期 | 2019.8.4-2019.8.7 |
会议地点 | 中国天津市河东区海河东路 328 号 |
摘要 | We consider a motion planning problem with workspace goal region in obstacle environments and the task is to move the end-effector into a specific goal region without posture constraints. In order to improve the quality of the planning trajectory, we present a goal region constraint algorithm based on Gaussian process motion planning. We construct a distance field for the irregular goal region in advance. The closest distance and direction from any location of the workspace to the specific goal region can be easily computed. Combined with the original method, we define a goal-region-constrained likelihood which specifies the probability that the position of end-effector is within the specific goal region and move the end-effector to a better position by numerical optimization. Finally, multiple simulation experiments are carried out and the results show that the proposed algorithm can quickly plan an obstacle avoidance trajectory in joint space and the quality of the trajectory is improved effectively compared to randomly specifying a goal configuration. |
收录类别 | EI |
语种 | 英语 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39196 |
专题 | 智能制造技术与系统研究中心_智能机器人 |
通讯作者 | Zheng, Jun |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Mi, Kai,Hao, Peng,Zheng, Jun,et al. A Motion Planning Algorithm Based on Trajectory Optimization with Workspace Goal Region[C],2019. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
A Motion Planning Al(194KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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