clearance2

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On Improving the Clearance for Robots in High-Dimensional Configuration Spaces: 

On Improving the Clearance for Robots in High-Dimensional Configuration Spaces Roland Geraerts and Mark Overmars IROS 2005

Outline: 

Outline Related work Retraction algorithm Algorithmic details Experiments Conclusions

Related Work: 

Related Work Preprocessing techniques Extract path from graph with cycles Create path along the medial axis Post processing technique Retract path to the medial axis (MA)

Related Work: 

Related Work Preprocessing techniques Extract path from graph with cycles Create path along the medial axis Post processing technique Retract path to the medial axis (MA)

Related Work: 

Related Work Preprocessing techniques Extract path from graph with cycles Create path along the medial axis Post processing technique Retract path to the medial axis (MA)

Retraction Algorithm: 

Retraction Algorithm

Algorithmic Details – Metric: 

Algorithmic Details – Metric

Algorithmic Details – Vector: 

Algorithmic Details – Vector

Algorithmic Details – Validate: 

Algorithmic Details – Validate

Experimental Setup: 

Experimental Setup Pentium 4 (2.66GHz) Comparison of retraction techniques Workspace (1 run) Configuration space (100 runs) Environments / paths

Experimental Results: 

Experimental Results Clearance

Conclusions: 

Conclusions Clearance along paths is improved No complicated data structures are needed The algorithm can handle robots with an arbitrary amount of DOFs Running times are too high for online usage Does not matter for high-cost environments Smarter implementation decreased the running times by an order of magnitude

Current Work: 

Current Work Retraction of a roadmap yields online performance

Current Work: 

Current Work Retraction of a roadmap yields online performance Reachability roadmap Retracted roadmap

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