Motion Planning Scott Kiesel Department of Computer Science skiesel - - PowerPoint PPT Presentation

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Motion Planning Scott Kiesel Department of Computer Science skiesel - - PowerPoint PPT Presentation

Nov 17, 2023 289 likes •453 views

Motion Planning Scott Kiesel Department of Computer Science skiesel at cs.unh.edu Scott Kiesel (UNH) Motion Planning 1 / 14 Overview Motion Planning in Introduction Overview 1. Discrete Space Discrete Space Continuous Space Grid

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SLIDE 1

Scott Kiesel (UNH) Motion Planning – 1 / 14

Motion Planning

Scott Kiesel Department of Computer Science skiesel at cs.unh.edu

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Overview

Introduction ■ Overview Discrete Space Continuous Space Biasing

Scott Kiesel (UNH) Motion Planning – 2 / 14

Motion Planning in

  • 1. Discrete Space

Grid with Smoothing Lattices

  • 2. Continuous Space

RRTs RRT* F-Biasing F-Biased Shell

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Discrete Space

Introduction Discrete Space ■ Discretization ■ Smoothing ■ Lattices Continuous Space Biasing

Scott Kiesel (UNH) Motion Planning – 3 / 14

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Discretization

Introduction Discrete Space ■ Discretization ■ Smoothing ■ Lattices Continuous Space Biasing

Scott Kiesel (UNH) Motion Planning – 4 / 14

Optimal Complete Discrete Yes Yes Continuous No No

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Smoothing

Introduction Discrete Space ■ Discretization ■ Smoothing ■ Lattices Continuous Space Biasing

Scott Kiesel (UNH) Motion Planning – 5 / 14

  • 1. Discretize and apply A*
  • 2. Apply

post processing smoothing

  • 3. Dynamically feasible path
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Lattices

Introduction Discrete Space ■ Discretization ■ Smoothing ■ Lattices Continuous Space Biasing

Scott Kiesel (UNH) Motion Planning – 6 / 14

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Continuous Space

Introduction Discrete Space Continuous Space ■ RRTs ■ RRT* Biasing

Scott Kiesel (UNH) Motion Planning – 7 / 14

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RRTs

Introduction Discrete Space Continuous Space ■ RRTs ■ RRT* Biasing

Scott Kiesel (UNH) Motion Planning – 8 / 14

Rapidly Exploring Random Trees (RRTs)

Optimal Complete Discrete – – Continuous No Yes*

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SLIDE 9

RRT*

Introduction Discrete Space Continuous Space ■ RRTs ■ RRT* Biasing

Scott Kiesel (UNH) Motion Planning – 9 / 14 (1) (2) (3) (4) (5) (6) (7)

Optimal Complete Discrete – – Continuous Yes* Yes*

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Biasing

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 10 / 14

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Simple Biasing

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 11 / 14

Unbiased Random Sampling

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Simple Biasing

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 11 / 14

Goal Biased Sampling

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F-Biasing

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 12 / 14

First Solution RRT time (seconds)

90 60 30

cost

1600 1400

goal 1% goal 10% goal 25% f-biased unbiased Anytime Profiles RRT time (seconds)

160 80

best cost / cost

0.8 0.4

f-biased unbiased goal 1% goal 25% goal 10%

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Shell

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 13 / 14 Unbiased Goal-Biased F-Biased F-Biased Shell Unbiased 20,000 Shell 2,500

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Q&A

Introduction Discrete Space Continuous Space Biasing ■ Simple Biasing ■ F-Biasing ■ Shell ■ Q&A

Scott Kiesel (UNH) Motion Planning – 14 / 14

Questions? skiesel at cs.unh.edu Sound interesting? Come do research with us!