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Path Planning with Loop Closure Constraints Using an Atlas-Based RRT

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

In many relevant path planning problems, loop closure constraints reduce the configuration space to a manifold embedded in the higher-dimensional joint ambient space. Whereas many progresses have been done to solve path planning problems in the presence of obstacles, only few work consider loop closure constraints. In this paper we present the AtlasRRT algorithm, a planner specially tailored for such constrained systems that builds on recently developed tools for higher-dimensional continuation. These tools provide procedures to define charts that locally parametrize manifolds and to coordinate them forming an atlas. AtlasRRT simultaneously builds an atlas and a Rapidly-Exploring Random Tree (RRT), using the atlas to sample relevant configurations for the RRT, and the RRT to devise directions of expansion for the atlas. The new planner is advantageous since samples obtained from the atlas allow a more efficient extension of the RRT than state of the art approaches, where samples are generated in the joint ambient space.

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Acknowledgments

We would like to thank L. Ros for pointing us to the higher-dimension continuation tools and for fruitful discussions during the elaboration of this work. This work has been partially supported by the Spanish Ministry of Science and Innovation under projects DPI2010-18449 and DPI2014-57220-C2-2-P.

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Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Llorens i Artigas 4-6, Barcelona, Spain

    Léonard Jaillet & Josep M. Porta

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  1. Léonard Jaillet
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  2. Josep M. Porta
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Correspondence to Josep M. Porta .

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Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Jaillet, L., Porta, J.M. (2017). Path Planning with Loop Closure Constraints Using an Atlas-Based RRT. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_20

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

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