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Continuous Motion Planning for Service Robots with Multiresolution in Time

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Intelligent Autonomous Systems 13

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

We present an approach to continuous motion planning with multiresolution in time. Our approach is based on stochastic trajectory optimization for motion planning (STOMP) and designed to decrease the optimization time in order to enable frequent replanning. Since service robots operate in environments with dynamic obstacles, it is likely that planned trajectories become invalid over time. Thus, it is not necessary to provide trajectories with a uniform high resolution. Our multiresolutional approach implicitly considers the uncertainty of the future by providing a trajectory with a gradually coarser schedule, which is refined trough replanning. In addition to employing temporal multiresolution, we speed up trajectory optimization by initializing replanning with the previous plan. The proposed multiresolution STOMP is evaluated in simulation in comparison to the original STOMP implementation. Our experiments show that multiresolution STOMP reduces the planning time and, hence, is able to avoid dynamic obstacles.

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Authors and Affiliations

  1. Autonomous Intelligent Systems Group, Institute for Computer Science VI, University of Bonn, Bonn, Germany

    Ricarda Steffens, Matthias Nieuwenhuisen & Sven Behnke

Authors
  1. Ricarda Steffens
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  2. Matthias Nieuwenhuisen
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  3. Sven Behnke
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Corresponding author

Correspondence to Matthias Nieuwenhuisen .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Steffens, R., Nieuwenhuisen, M., Behnke, S. (2016). Continuous Motion Planning for Service Robots with Multiresolution in Time. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_16

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_16

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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