Skip to main content
×
×
Home

A general framework for task-constrained motion planning with moving obstacles

  • Massimo Cefalo (a1) and Giuseppe Oriolo (a1)
Summary

Consider the practically relevant situation in which a robotic system is assigned a task to be executed in an environment that contains moving obstacles. Generating collision-free motions that allow the robot to execute the task while complying with its control input limitations is a challenging problem, whose solution must be sought in the robot state space extended with time. We describe a general planning framework which can be tailored to robots described by either kinematic or dynamic models. The main component is a control-based scheme for producing configuration space subtrajectories along which the task constraint is continuously satisfied. The geometric motion and time history along each subtrajectory are generated separately in order to guarantee feasibility of the latter and at the same time make the scheme intrinsically more flexible. A randomized algorithm then explores the search space by repeatedly invoking the motion generation scheme and checking the produced subtrajectories for collisions. The proposed framework is shown to provide a probabilistically complete planner both in the kinematic and the dynamic case. Modified versions of the planners based on the exploration–exploitation approach are also devised to improve search efficiency or optimize a performance criterion along the solution. We present results in various scenarios involving non-holonomic mobile robots and fixed-based manipulators to show the performance of the planner.

Copyright
Corresponding author
*Corresponding author. E-mail: oriolo@diag.uniroma1.it
References
Hide All
1. Reif, J. and Sharir, M., “Motion planning in the presence of moving obstacles,” J. ACM 41 (4), 764790 (1994).
2. Kant, K. and Zucker, S. W., “Toward efficient trajectory planning: The path-velocity decomposition,” Int. J. Robot. Res. 5 (3), 7289 (1986).
3. Erdmann, M. and Lozano-Perez, T., “On multiple moving objects,” Algorithmica 2 (4), 477521 (1987).
4. Fraichard, T., “Dynamic trajectory planning with dynamic constraints: A ‘state-time space’ approach,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (1993) pp. 1393–1400.
5. Fiorini, P. and Shiller, Z., “Time optimal trajectory planning in dynamic environments,” Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN (1996) pp. 15531558.
6. Fiorini, P. and Shiller, Z., “Motion planning in dynamic environments using velocity obstacles,” Int. J. Robot. Res. 17 (7), 760772 (1998).
7. Shiller, Z., Large, F. and Sekhavat, S., “Motion planning in dynamic environments: Obstacles moving along arbitrary trajectories,” Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (2001) pp. 37163721.
8. Donald, B., Xavier, P., Canny, J. and Reif, J., “Kinodynamic motion planning,” J. ACM 40 (5), 10481066 (1993).
9. Hsu, D., Kindel, R., Latombe, J. C. and Rock, S., “Randomized kinodynamic motion planning with moving obstacles,” Int. J. Robot. Res. 21 (3), 233255 (2002).
10. Inoue, A., Inoue, K. and Okawa, Y., “On-line motion planning of an autonomous mobile robot to avoid multiple moving obstacles based on the prediction of their future trajectories,” J. Robot. Soc. Japan 15 (2), 249260 (1997).
11. Mercy, T., Van Loock, W. and Pipeleers, G., “Real-time motion planning in the presence of moving obstacles,” Proceedings of the European Control Conference (ECC) (2016) pp. 1586–1591.
12. Stachniss, C. and Burgard, W., “An integrated approach to goal-directed obstacle avoidance under dynamic constraints for dynamic environments,” Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland (2002) pp. 508513.
13. Van den Berg, J., Ferguson, D. and Kuffner, J., “Anytime path planning and replanning in dynamic environments,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL (2006) pp. 2366–2371.
14. Narayanan, V., Phillips, M. and Likhachev, M., “Anytime safe interval path planning for dynamic environments,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Algarve, Portugal (2012) pp. 47084715.
15. Kavraki, L., Svestka, P., Latombe, J. C. and Overmars, M. H., “Probabilistic roadmaps for path planning high-dimensional configuration spacess,” IEEE Trans. Robot. Autom. 12 (4), 566580 (1996).
16. LaValle, S. M., Rapidly-Exploring Random Trees: A New Tool for Path Planning. Technical Report, Computer Science Dept., Iowa State University (1998).
17. Berenson, D., Srinivasa, S., Ferguson, D. and Kuffner, J., “Manipulation planning on constraint manifolds,” Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 625–632.
18. Stilman, M., “Global manipulation planning in robot joint space with task constraints,” IEEE Trans. Robot. 26 (3), 576584 (2010).
19. Suh, C., Kim, B. and Park, F., “The tangent bundle RRT algorithms for constrained motion planning,” Proceedings of the 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico (2011) pp. 15.
20. Jaillet, L. and Porta, J-M., “Path planning under kinematic constraints by rapidly exploring manifolds,” IEEE Trans. Robot. 29 (1), 105117 (2013).
21. Oriolo, G. and Vendittelli, M., “A control-based approach to task-constrained motion planning,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO (2009) pp. 297302.
22. Cefalo, M., Oriolo, G. and Vendittelli, M., “Task-constrained motion planning with moving obstacles,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan (2013) pp. 57585763.
23. Cefalo, M. and Oriolo, G., “Dynamically feasible task-constrained motion planning with moving obstacles,” Proceedings of the IEEE International Conference on Robotics and Automation, Hong Kong, China (2014) pp. 20452050.
24. De Luca, A., Oriolo, G. and Robuffo Giordano, P., “Image-based visual servoing schemes for nonholonomic mobile manipulators,” Robotica 25 (2), 131145 (2007).
25. Oriolo, G., Cefalo, M. and Vendittelli, M., “Repeatable motion planning for redundant robots over cyclic tasks,” IEEE Trans. Robot. 33 (5), 11701183 (2017).
26. Cefalo, M. and Oriolo, G., “Task-constrained motion planning for underactuated robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Seattle, WA (May 6–10, 2015) pp. 29652970.
Recommend this journal

Email your librarian or administrator to recommend adding this journal to your organisation's collection.

Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
Please enter your name
Please enter a valid email address
Who would you like to send this to? *
×

Keywords

Type Description Title
VIDEO
Supplementary materials

Cefalo and Oriolo supplementary material
Cefalo and Oriolo supplementary material 1

 Video (13.7 MB)
13.7 MB

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed