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Algorithmic Foundations of Robotics X pp 297–312Cite as

Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension

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Part of the Springer Tracts in Advanced Robotics book series (STAR,volume 86)

Abstract

Motion planning has received much attention over the past 40 years. More than 15 years have passed since the introduction of the successful sampling-based approach known as the Probabilistic RoadMap Method (PRM). PRM and its many variants have demonstrated great success for some high-dimensional problems, but they all have some level of difficulty in the presence of narrow passages. Recently, an approach called Toggle PRM has been introduced whose performance does not degrade for 2-dimensional problems with narrow passages. In Toggle PRM, a simultaneous, coordinated mapping of both C free and C obst is performed and every connection attempt augments one of the maps – either validating an edge in the current space or adding a configuration ’witnessing’ the connection failure to the other space. In this paper, we generalize Toggle PRM to d-dimensions and show that the benefits of mapping both C free and C obst continue to hold in higher dimensions. In particular, we introduce a new narrow passage characterization, α-ε-separable narrow passages, which describes the types of passages that can be successfully mapped by Toggle PRM. Intuitively, α-ε-separable narrow passages are arbitrarily narrow regions of C free that separate regions of C obst , at least locally, such as hallways in an office building. We experimentally compare Toggle PRM with other methods in a variety of scenarios with different types of narrow passages and robots with up to 16 dof.

Keywords

  • Motion Planning
  • Collision Detection
  • Medial Axis
  • Local Planner
  • Narrow Passage

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  1. Parasol Lab, Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

    Jory Denny & Nancy M. Amatoo

Authors
  1. Jory Denny
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  2. Nancy M. Amatoo
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Correspondence to Jory Denny .

Editor information

Editors and Affiliations

  1. Associate Professor of Aeronautics and, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Emilio Frazzoli

  2. MIT Comp. Sci. & Artificial Intel. Lab., Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Tomas Lozano-Perez

  3. Robust Robotics Group, Massachusetts Institute of Technology CSAIL, Cambridge, Massachusetts, USA

    Nicholas Roy

  4. Massachusetts Institute of Technology, Cambridge, Massachusetts, USA

    Daniela Rus

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Denny, J., Amatoo, N.M. (2013). Toggle PRM: A Coordinated Mapping of C-Free and C-Obstacle in Arbitrary Dimension. In: Frazzoli, E., Lozano-Perez, T., Roy, N., Rus, D. (eds) Algorithmic Foundations of Robotics X. Springer Tracts in Advanced Robotics, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36279-8_18

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  • DOI: https://doi.org/10.1007/978-3-642-36279-8_18

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