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Continuous Motion Planning for Service Robots with Multiresolution in Time

  • Ricarda Steffens
  • Matthias Nieuwenhuisen
  • Sven Behnke
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

We present an approach to continuous motion planning with multiresolution in time. Our approach is based on stochastic trajectory optimization for motion planning (STOMP) and designed to decrease the optimization time in order to enable frequent replanning. Since service robots operate in environments with dynamic obstacles, it is likely that planned trajectories become invalid over time. Thus, it is not necessary to provide trajectories with a uniform high resolution. Our multiresolutional approach implicitly considers the uncertainty of the future by providing a trajectory with a gradually coarser schedule, which is refined trough replanning. In addition to employing temporal multiresolution, we speed up trajectory optimization by initializing replanning with the previous plan. The proposed multiresolution STOMP is evaluated in simulation in comparison to the original STOMP implementation. Our experiments show that multiresolution STOMP reduces the planning time and, hence, is able to avoid dynamic obstacles.

Keywords

Motion planning Service robots Multiresolution 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Ricarda Steffens
    • 1
  • Matthias Nieuwenhuisen
    • 1
  • Sven Behnke
    • 1
  1. 1.Autonomous Intelligent Systems GroupInstitute for Computer Science VI, University of BonnBonnGermany

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