Composition of dynamic roadmaps for dual-Arm motion planning
Völz A, Graichen K (2017)
Publication Language: English
Publication Status: Published
Publication Type: Conference contribution, Conference Contribution
Publication year: 2017
Publisher: Institute of Electrical and Electronics Engineers Inc.
Pages Range: 1242-1248
Article Number: 8014188
Conference Proceedings Title: 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
Event location: München
ISBN: 9781509059980
Abstract
Dynamic roadmaps (DRM) are a planning approach for robots in changing environments where fast replanning is required. DRMs are based on a precomputed graph in the configuration space and mappings from workspace voxels to vertices and edges in the graph, which allows for computation times below 100 ms. While dynamic roadmaps can in principle be applied to dual-arm motion planning, it may be beneficial to use independent roadmaps per arm. This paper proposes four different approaches for planning based on two separate DRMs that all take advantage of the availability of workspace mappings. A sequential approach first plans for a prioritized arm and then considers its motion as obstacle for the second arm. The other three planners coordinate the motion of the arms along fixed paths or graphs such that no collision occurs. Benchmarks are performed for two robot models with different ratios of overlapping workspace to investigate the pros and cons of the composition approaches and to compare them to a single roadmap for the dual-arm robot.
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APA:
Völz, A., & Graichen, K. (2017). Composition of dynamic roadmaps for dual-Arm motion planning. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 1242-1248). München, DE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Völz, Andreas, and Knut Graichen. "Composition of dynamic roadmaps for dual-Arm motion planning." Proceedings of the 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, München Institute of Electrical and Electronics Engineers Inc., 2017. 1242-1248.
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