Motion Planning in the Presence of Drift, Underactuation and Discrete System Changes

Motion planning research has been successful in developing planning algorithms which are effective for solving problems with complicated geometric and kinematic constraints. Various applications in robotics and in other fields demand additional physical realism. Some progress has been made for non-holonomic systems. However systems with significant dr ift, underactuation and discrete system changes remain challenging for existing planning techniques particularly as the dimensional- ity of the state space increases. In this paper, we demonstrate a motion planning technique for the solution of problems with these challenging characteristics. Our approach uses sampling-based motion planning and subdivision methods. The problem that we solve is a game that was chosen to exemplify characteristics of dynamical systems that are difficult for planning. To our knowledge, this is first application of algorithmic motion p lanning to a problem of this type and complexity.

[1]  Irene A. Stegun,et al.  Handbook of Mathematical Functions. , 1966 .

[2]  Jean-Paul Laumond,et al.  Feasible Trajectories for Mobile Robots with Kinematic and Environment Constraints , 1986, IAS.

[3]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[4]  S. LaValle,et al.  Motion Planning , 2008, Springer Handbook of Robotics.

[5]  Jean-Claude Latombe,et al.  Geometric Reasoning About Mechanical Assembly , 1994, Artif. Intell..

[6]  Rachid Alami,et al.  Two manipulation planning algorithms , 1995 .

[7]  Tsai-Yen Li,et al.  Assembly maintainability study with motion planning , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[8]  Mark H. Overmars,et al.  Coordinated motion planning for multiple car-like robots using probabilistic roadmaps , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[9]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[10]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[11]  Wolfram Burgard,et al.  The Interactive Museum Tour-Guide Robot , 1998, AAAI/IAAI.

[12]  Daniel Vallejo,et al.  OBPRM: an obstacle-based PRM for 3D workspaces , 1998 .

[13]  Steven M. LaValle,et al.  Randomized Kinodynamic Planning , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[14]  David Hsu,et al.  Randomized single-query motion planning in expansive spaces , 2000 .

[15]  Florent Lamiraux,et al.  Smooth motion planning for car-like vehicles , 2001, IEEE Trans. Robotics Autom..

[16]  S. LaValle,et al.  Randomized Kinodynamic Planning , 2001 .

[17]  Jean-Claude Latombe,et al.  Stochastic roadmap simulation: an efficient representation and algorithm for analyzing molecular motion , 2002, RECOMB '02.

[18]  Mark H. Overmars,et al.  A Comparative Study of Probabilistic Roadmap Planners , 2002, WAFR.

[19]  Steven M. LaValle,et al.  Resolution complete rapidly-exploring random trees , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[20]  Nancy M. Amato,et al.  Probabilistic roadmap motion planning for deformable objects , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[21]  Jean-Claude Latombe,et al.  Randomized Kinodynamic Motion Planning with Moving Obstacles , 2002, Int. J. Robotics Res..

[22]  Nancy M. Amato,et al.  Using Motion Planning to Map Protein Folding Landscapes and Analyze Folding Kinetics of Known Native Structures , 2003, J. Comput. Biol..

[23]  Howie Choset,et al.  Path Planning for Robotic Demining: Robust Sensor-Based Coverage of Unstructured Environments and Probabilistic Methods , 2003, Int. J. Robotics Res..

[24]  Masayuki Inaba,et al.  Motion Planning for Humanoid Robots , 2003, ISRR.

[25]  Mark H. Overmars,et al.  Motion planning for camera movements , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[26]  Thierry Siméon,et al.  Sampling-Based Motion Planning under Kinematic Loop-Closure Constraints , 2004, WAFR.

[27]  Thierry Siméon,et al.  Manipulation Planning with Probabilistic Roadmaps , 2004, Int. J. Robotics Res..

[28]  Lydia E. Kavraki,et al.  Fast Tree-Based Exploration of State Space for Robots with Dynamics , 2004, WAFR.