An adaptive framework for 'single shot' motion planning

This paper proposes an adaptive framework for single shot motion planning, i. e. , planning without preprocessing. This framework can be used in any situation, and in particular, is suitable for crowded environments in which the robot's free C-space has narrow corridors such as maintainability studies in complex 3D CAD models. Our iterative strategy adaptively selects a planner whose strengths match the current situation, and then, online, switches to a different planner when circumstances change. This requires techniques to evaluate the characteristics of the current query, and a set of planners which are characterized so that we can match the query with the best planner for it. Our experimental results in complex 3D CAD environments show that our strategy solves queries that none of the planners could solve on their own.

Authors

• Daniel Vallejo
• Christopher Jones
• Nancy M. Amato

Keywords

• Motion planning
• Robots
• Design automation
• Robotics and automation
• Orbital robotics
• Laboratories
• Switches
• Strategic planning
• Application software
• Virtual reality
• Path Planning
• Single Shot
• Complex III
• Single Motor
• CAD Model
• Narrow Corridor
• Urban Planning
• Free Space
• Random Walk
• Open Space
• Local Properties
• Global Properties
• Configuration Space
• Small Blocks
• Planning Methods
• Property Space
• Planning Algorithm
• Algorithm In Section
• Priority Queue
• Rapidly-exploring Random Tree