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Tangent bundle RRT: A randomized algorithm for constrained motion planning

Published online by Cambridge University Press:  28 May 2014

Beobkyoon Kim ,
Terry Taewoong Um ,
Chansu Suh  and
F. C. Park
Beobkyoon Kim
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 151-744, Korea
Terry Taewoong Um
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 151-744, Korea
Chansu Suh
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 151-744, Korea
F. C. Park*
Affiliation:
Robotics Laboratory, Seoul National University, Seoul 151-744, Korea
*
*Corresponding author. E-mail: fcp@snu.ac.kr
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Summary

The Tangent Bundle Rapidly Exploring Random Tree (TB-RRT) is an algorithm for planning robot motions on curved configuration space manifolds, in which the key idea is to construct random trees not on the manifold itself, but on tangent bundle approximations to the manifold. Curvature-based methods are developed for constructing tangent bundle approximations, and procedures for random node generation and bidirectional tree extension are developed that significantly reduce the number of projections to the manifold. Extensive numerical experiments for a wide range of planning problems demonstrate the computational advantages of the TB-RRT algorithm over existing constrained path planning algorithms.

Keywords

Motion planningPath planningControl of robotic systemsRedundant manipulatorsService robots
Type
Articles
Information
Robotica , Volume 34 , Issue 1 , January 2016 , pp. 202 - 225
Copyright
Copyright © Cambridge University Press 2014 

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