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Paper ThAP.40

Bakken, Marianne (SINTEF), Holhjem, Øystein Hov (SINTEF ICT), Berge, Asbjørn (SINTEF), Schumann-Olsen, Henrik (SINTEF ICT)

Real-Time Simultaneous Arm and Base Planning with PDRM

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Mobile Manipulation, Motion Planning for Manipulators

Abstract

This poster presents Parallel Dynamic Roadmaps (PDRM), the first globally optimal mobile manipulation planner with simultaneous arm and base motions running at real-time speed (up to 50 Hz). The presented roadmap-based algorithm handles dynamic obstacles without losing track of the global goal, resulting in a planning strategy that is more complete and efficient than reactive or randomized planners. Simultaneous arm and base planning enables safe and efficient implementation of robots working alongside humans.

A realistic example workspace spans 2 x 2 meters and typically has 25 percent occupied volume, including dynamic obstacles such as a human. For unconstrained robot motion within this workspace, experiments on simulated scenarios have shown planning times of approximately 100 ms, nearly twice the reaction speed of a human being.

The algorithm is a massively parallel extension of the dynamic roadmap approach, extending earlier work by including seamless integration of base motions in the arm planning. Massive increase in speed is achieved by discretization, and only finding the exact solution when necessary. To make the data structure sizes manageable, efficient reduction of the search space is applied. The planner can handle dynamic objects by use of sensor data, and will always find the optimal solution, if it exists.

 

 

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