Resolution-exact algorithms for link robots

Zhongdi Luo, Yi-Jen Chiang, Jyh Ming Lien, Chee Yap

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Motion planning is a major topic in robotics. Divergent paths have been taken by practical roboticists and theoretical motion planners. Our goal is to produce algorithms that are practical and have strong theoretical guarantees. Recently, we have proposed a subdivision approach based on soft predicates Wang, C., Chiang, Y.-J., Yap, C.: On soft predicates in subdivision motion planning. In: 29th ACM Symposium on Computational Geometry (SoCG’13), pp. 349–358 (2013). To appear CGTA, Special Issue for SoCG’13 [20], but with a new notion of correctness called resolution-exactness. Unlike mos ques for planar link robots. The technical contributions of this paper are the design of soft predicates for link robots, a novel “T/R splitting method” for subdivision, and feature-based search strategies. The T/R idea is to give primacy to the translational (T) components, and perform splitting of rotational components (R) only at the leaves of a subdivision tree. We implemented our algorithm for a 2-link robot with 4 degrees of freedom (DOFs). Our implementation achieves real-time performance on a variety of nontrivial scenarios. For comparison, our method outperforms sampling-based methods significantly. We extend our 2-link planner to thick link robots with little impact on performance. Note that there are no known exact algorithms for thick link robots.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
PublisherSpringer Verlag
Pages353-370
Number of pages18
Volume107
ISBN (Print)9783319165943
DOIs
StatePublished - 2015
Event11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 - Istanbul, Turkey
Duration: Aug 3 2014Aug 5 2014

Publication series

NameSpringer Tracts in Advanced Robotics
Volume107
ISSN (Print)16107438
ISSN (Electronic)1610742X

Other

Other11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014
CountryTurkey
CityIstanbul
Period8/3/148/5/14

Fingerprint

Robots
Motion planning
Computational geometry
Robotics
Sampling

Keywords

  • Exact algorithms
  • Link robots
  • Motion planning
  • Resolution-exact algorithms
  • Soft predicates
  • Subdivision algorithms

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

Cite this

Luo, Z., Chiang, Y-J., Lien, J. M., & Yap, C. (2015). Resolution-exact algorithms for link robots. In Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014 (Vol. 107, pp. 353-370). (Springer Tracts in Advanced Robotics; Vol. 107). Springer Verlag. https://doi.org/10.1007/978-3-319-16595-0_21

Resolution-exact algorithms for link robots. / Luo, Zhongdi; Chiang, Yi-Jen; Lien, Jyh Ming; Yap, Chee.

Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107 Springer Verlag, 2015. p. 353-370 (Springer Tracts in Advanced Robotics; Vol. 107).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Luo, Z, Chiang, Y-J, Lien, JM & Yap, C 2015, Resolution-exact algorithms for link robots. in Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. vol. 107, Springer Tracts in Advanced Robotics, vol. 107, Springer Verlag, pp. 353-370, 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014, Istanbul, Turkey, 8/3/14. https://doi.org/10.1007/978-3-319-16595-0_21
Luo Z, Chiang Y-J, Lien JM, Yap C. Resolution-exact algorithms for link robots. In Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107. Springer Verlag. 2015. p. 353-370. (Springer Tracts in Advanced Robotics). https://doi.org/10.1007/978-3-319-16595-0_21
Luo, Zhongdi ; Chiang, Yi-Jen ; Lien, Jyh Ming ; Yap, Chee. / Resolution-exact algorithms for link robots. Algorithmic Foundations of Robotics - Selected Contributions of the 11th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2014. Vol. 107 Springer Verlag, 2015. pp. 353-370 (Springer Tracts in Advanced Robotics).
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