Abstract
Rapidly-Exploring Random Trees (RRT) have been successfully used in motion planning problems involving a wide range of constraints. In this paper we develop a more robust and efficient version of the constrained RRT planning algorithm of [1]. The key idea is based on first constructing RRTs on tangent space approximations of constraint manifold, and performing lazy projections to the constraint manifold when the deviation exceeds a prescribed threshold. Our algorithm maintains the Voronoi bias property characteristic of RRT-based algorithms, while also reducing the number of projections. Preliminary results of a numerical study, together with a discussion of the potential strengths and weaknesses of our algorithm, are presented.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Berson, D., Srinivasa, S., Ferguson, D., and Kuffner, J., Manipulation planning on constraint manifolds, in Proc. IEEE Int. Conf. Robotics and Automation (2009).
Sentis, S. and Khatib, O., Synthesis of whole-body behaviors through hierarchical control of behavioral primitives, Int. J. Humanoid Robots (2005).
Koga, Y., Kondo, K., Kuffner, J., and Latombe, J., Planning motions with intentions. In SIG-GRAPH (1994).
Yamane, K., Kuffner, J., and Hodgins, J., Synthesizing animations of human manipulation tasks. In ACM Transactions on Graphics (2004).
LaValle, S., Rapidly-exploring random trees: a new tool for path planning, TR 98-11, Computer Science Department, Iowa State University (1998).
LaValle, S. and Kuffner, J., Rapidly exploring random trees: progress and prospects. In Workshop on Algorithmic Foundations of Robotics (2000).
Kavraki, L., Svestka, P., Latombe, J., and Overmars, M., Probabilistic roadmaps for path planning in high-dimensional configuration spaces. In Proc. IEEE Int. Conf. Robotics Automation (2002).
LaValle, S., Yakey, J., and Kavraki, L., A probabilistic roadmap approach for systems with closed kinematic chains. In Proc. IEEE Int. Conf. Robotics and Automation (1999).
Yao, Z. and Gupta, K., Path planning with general end-effector constraints: Using task space to guide configuration space search. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (2005).
Stilman, M., Task constrained motion planning in robot joint space. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (2007).
Lindermann, S. and LaValle, S., Incrementally reducing dispersion by increasing Voronoi bias in RRTs. In Proc. IEEE Int. Conf. Robotics and Automation (2004).
Sanchez, G. and Latombe, J., A single query bi-directional probabilistic roadmap planner with lazy collision checking. In Int. Symp. Robotics Research, Lorne, Victoria, Australia (2001).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media B.V.
About this paper
Cite this paper
Um, T.T., Kim, B., Suh, C., Park, F.C. (2010). Tangent Space RRT with Lazy Projection: An Efficient Planning Algorithm for Constrained Motions. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_27
Download citation
DOI: https://doi.org/10.1007/978-90-481-9262-5_27
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9261-8
Online ISBN: 978-90-481-9262-5
eBook Packages: EngineeringEngineering (R0)