Factored Motion Planning for a Robotic Arm
By Jaesik Choi and Eyal Amir
Abstract
Motion planning for robotic arms is important for real, physical world applications. Such control is hard because movement of one joint affects the position of many of the rest. In this paper we present a polytime algorithm that finds plans of motion from one arm configuration to a goal arm configuration in 2D space. Our algorithm is unique in two ways: (a) it takes time that is only polynomial in the number of joints, thus allowing scaling up to complex arms; and (b) it decomposes the planning problem to that of the separate joints, thus enabling future development of robust reactive modules. We provide a sufficient condition for polytime motion planning of a 2D-space arm: if there is a path between two Homotopic configurations, a local planner finds the path within a constant time. Our algorithm is sound and complete given the condition: it finds a plan, if there is one, and every returned plan leads to the goal. Also, it has bounded error with respect to a path planned from a grid-based configuration space.
Related Papers
- Jaesik Choi and Eyal Amir, Factor-Guided Motion Planning for a Robotic Arm, IEEE 2007 International Conference on Intelligent Robots and Systems (IROS'07), 2007
- Jaesik Choi and Eyal Amir, Factored Planning for Controlling a Robotic Arm, AAAI 2006 Fall Symposium on Integrating Reasoning into Everyday Applications, 2006.
- Jaesik Choi and Eyal Amir, Factored Planning for Controlling a Robotic Arm: Theory, 5th international workshop on cognitive robotics (CogRob'06), part of AAAI'06, 2006.
Experimental Results
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DOF (Degree of Freedom) |
Initial Configuration |
Goal Configuratoin |
Path Planning Movies |
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30 DOF |
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20 DOF |
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20 DOF |
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20 DOF |
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Updated on July 15, 2008