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Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs

Mesesan, George and Roa Garzon, Máximo Alejandro and Icer, Esra and Althoff, Matthias (2018) Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs. In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.

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Abstract

This paper presents a hierarchical path planner consisting of two stages: a global planner that uses workspace information to create collision-free paths for the robot end-effector to follow, and multiple local planners running in parallel that verify the paths in the configuration space by expanding a task-space rapidly-exploring random tree (RRT). We demonstrate the practicality of our approach by comparing it with state-of-the-art planners in several challenging path planning problems. While using a single tree, our planner outperforms other single tree approaches in task-space or configuration space (C-space), while its performance and robustness are comparable or better than that of parallelized bidirectional C-space planners.

Item URL in elib:https://elib.dlr.de/124053/
Document Type:Conference or Workshop Item (Speech)
Title:Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Mesesan, Georgegeorge.mesesan (at) dlr.dehttps://orcid.org/0000-0001-5110-2988
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Icer, Esraesra.icer (at) tum.deUNSPECIFIED
Althoff, Matthiasalthoff (at) tum.dehttps://orcid.org/0000-0003-3733-842X
Date:October 2018
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Path planning, Parallel planning, RRT, Task-space planner, Computational Geometry,
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Madrid, Spain
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Autonomie & Geschicklichkeit
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Mesesan, George-Adrian
Deposited On:03 Dec 2018 14:15
Last Modified:31 Jul 2019 20:21

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