Robot Motion Planning: Approaches and Research Issues
-
Upload
rahul-kala -
Category
Documents
-
view
42 -
download
0
description
Transcript of Robot Motion Planning: Approaches and Research Issues
Robot Motion Planning: Approaches and Research Issues
Rahul Kala
12th June, 2014rkala.inIIIT Allahabad
ROBOTICS AND ARTIFICIAL INTELLIGENCE LABORATORY
INDIAN INSTITUTE OF INFORMATION TECHNOLOGY, ALLAHABAD
Problem Solving in Mobile Robotics
Environment
Data Collection
Environment
Understanding
Sensor Fusion
Map building
Localization
Planning ControlManipulatio
n
R. Tiwari, A. Shukla, R. Kala (2013) Intelligent Planning for Mobile Robotics:Algorithmic Approaches, IGI Global Publishers,Hershey, PA.
rkala.inRobot Motion PlanningIIIT Allahabad
Planning
Strategic
Planning
Milestone
Planning
Path Plannin
g
Obstacle
Avoidance
Control
Abstration
R. Tiwari, A. Shukla, R. Kala (2013) Intelligent Planning for Mobile Robotics:Algorithmic Approaches, IGI Global Publishers,Hershey, PA.
rkala.inRobot Motion PlanningIIIT Allahabad
Problem Definition
rkala.inRobot Motion PlanningIIIT Allahabad
Start
Goal
Objective
Travel Time
Travel Speed
Travel Distance
Fuel Economy
Passenger Comfort
Clearance
Smoothness
rkala.inRobot Motion PlanningIIIT Allahabad
Research Issues
Large offline/onlin
e computation
Holonomicity
Unstructured
environment
Sensing/control errors
Single/limited
obstacle/robot
environments
Congested environment
s
Narrow Corridors
Dynamic Environment
A priori known
environmentWide maps
Trap-prone environment
s
Human Assistance
rkala.inRobot Motion PlanningIIIT Allahabad
Base Algorithms
Algorithms
Deliberative
Graph Search Based
A*
Sampling Based
PRM RRT
Optimization Based
Genetic Algorithm
Reactive
Fuzzy Logic
Artificial Potential
Fields
rkala.inRobot Motion PlanningIIIT Allahabad
Pros and Cons: Graph search based
Pros
• Resolution Optimal
• Resolution Complete
Cons
• Time Complexity
• Discrete states
• Discrete action sets
• Holonomicity*
Research
• Dynamic A* (D*)
• Any theta A*
• ε optimal A*
* Can be controlled with a different modeling. Not implemented in the codes given
rkala.inRobot Motion PlanningIIIT Allahabad
Pros and Cons: PRM
Pros
• Probabilistically Optimal
• Probabilistically Complete
• Reasonable Computation time
Cons
• Narrow corridor problem
• Roadmap generation not for dynamic environments
• Holonomicity
Research
• Lazy PRM• Vision based
PRM• K-
connectivity PRM
• PRM without cycles
• Obstacle based sampling
• Suited to non-holonomicity
rkala.inRobot Motion PlanningIIIT Allahabad
Pros and Cons: RRT
Pros
• Probabilistically Complete
• Near real time performance
Cons
• Narrow corridor problem
• Not optimal• Voronoi bias• Practically
not complete
Research
• RRT-Connect• Graph based• Local trees• Obstacle
based sampling
• Exploration in partially known environments
rkala.inRobot Motion PlanningIIIT Allahabad
Pros and Cons: Genetic Algorithm
Pros
• Probabilistically Complete
• Probabilistically Optimal
Cons
• Narrow corridor problem
• Computationally Expensive
• Practically not complete
Research
• Shorten Operator
• Variable Length Chromosome
• Multi-objective optimization
• Memetic Computation
• Lazy collision checker
rkala.inRobot Motion PlanningIIIT Allahabad
Pros and Cons: Reactive Methods
Pros
• Real time• Can
accommodate uncertainties
Cons
• Not optimal
• Not complete
• Trap prone
Research
• Training methods
• Input modeling
• Heuristic decision making
rkala.inRobot Motion PlanningIIIT Allahabad
And some ‘hybrids’
rkala.inRobot Motion PlanningIIIT Allahabad
A* and Fuzzy
rkala.inRobot Motion PlanningIIIT Allahabad
R. Kala, A. Shukla, R. Tiwari (2010) Fusion of probabilistic A* algorithm and fuzzy inference system for robotic path planning. Artificial Intelligence Review, 33(4): 275-306.
A ‘better’ Genetic Algorithm
R. Kala, A. Shukla, R. Tiwari (2011) Robotic Path Planning using Evolutionary Momentum based Exploration. Journal of Experimental and Theoretical Artificial Intelligence, 23(4): 469-495.
rkala.inRobot Motion PlanningIIIT Allahabad
Variable Length
Individual
Soft Mutation
Hard Mutation Elite
Insert Repair
Shorten
Genetic Algorithm + Genetic Algorithm
R. Kala, A. Shukla, R. Tiwari (2010) Dynamic Environment Robot Path Planning using Hierarchical Evolutionary Algorithms. Cybernetics and Systems, 41(6): 435-454.
rkala.inRobot Motion PlanningIIIT Allahabad
Hierarchical A*
R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness. Neurocomputing, 74(14-15): 2314-2335. rkala.inRobot Motion PlanningIIIT
Allahabad
Multi Resolution Graph Representation
Hierarchical A*
R. Kala, A. Shukla, R. Tiwari (2011) Robotic path planning in static environment using hierarchical multi-neuron heuristic search and probability based fitness. Neurocomputing, 74(14-15): 2314-2335. rkala.inRobot Motion PlanningIIIT
Allahabad
2-layered Dynamic Programming
rkala.inRobot Motion PlanningIIIT Allahabad
R. Kala, A. Shukla, R. Tiwari (2012) Robot Path Planning using Dynamic Programming with Accelerating Nodes. Paladyn Journal of Behavioural Robotics, 3(1): 23-34.
And all this extended to
Multi-Robotics
rkala.inRobot Motion PlanningIIIT Allahabad
A* + GA
R. Kala (2013) Multi-Robot Motion Planning using Hybrid MNHS and Genetic Algorithms. Applied Artificial Intelligence, 27(3): 170-198.
rkala.inRobot Motion PlanningIIIT Allahabad
Rapidly-exploring Random Graphs
R. Kala (2013) Rapidly-exploring Random Graphs: Motion Planning of Multiple Mobile Robots. Advanced Robotics, 27(14): 1113-1122.
rkala.inRobot Motion PlanningIIIT Allahabad
Coordination using Local Optimization
R. Kala (2014) Coordination in Navigation of Multiple Mobile Robots. Cybernetics and Systems, 45(1): 1-24.
rkala.inRobot Motion PlanningIIIT Allahabad
Coordination using Local Optimization
R. Kala (2014) Coordination in Navigation of Multiple Mobile Robots. Cybernetics and Systems, 45(1): 1-24.
rkala.inRobot Motion PlanningIIIT Allahabad
Coordination using A* + Fuzzy
R. Kala (2014) Navigating Multiple Mobile Robots without Direct Communication. International Journal of Intelligent Systems, DOI: 10.1002/int.21662 [Accepted, In Press].
rkala.inRobot Motion PlanningIIIT Allahabad
Thank You
Complex Mobile Navigation and Manipulation
IIIT Allahabad
rkala.ingcnandi.co.nr