Optimal path planning based on a multi-tree T-RRT* approach for robotic task planning in continuous cost spaces

Wong, Cuebong and Yang, Erfu and Yan, Xiu-Tian and Gu, Dongbing (2018) Optimal path planning based on a multi-tree T-RRT* approach for robotic task planning in continuous cost spaces. In: 12th France - Japan Congress, 10th Europe - Asia Congress on Mechatronics, 2018-09-10 - 2018-09-12, Mie University. (https://doi.org/10.1109/MECATRONICS.2018.8495886)

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Abstract

This paper presents an integrated approach to robotic task planning in continuous cost spaces. This consists of a low-level path planning phase and a high-level Planning Domain Definition Language (PDDL)-based task planning phase. The path planner is based on a multi-tree implementation of the optimal Transition-based Rapidly-exploring Random Tree (T-RRT*) that searches the environment for paths between all pairs of configuration waypoints. A method for shortcutting paths based on cost function is also presented. The resulting minimized path costs are then passed to a PDDL planner to solve the high-level task planning problem while optimizing the overall cost of the solution plan. This approach is demonstrated on two scenarios consisting of different cost functions: obstacle clearance in a cluttered environment and elevation in a mountain environment. Preliminary results suggest that significant improvements to path quality can be achieved without significant increase to computation time when compared with a T-RRT-based implementation.

ORCID iDs

Wong, Cuebong ORCID logoORCID: https://orcid.org/0000-0002-6541-6125, Yang, Erfu ORCID logoORCID: https://orcid.org/0000-0003-1813-5950, Yan, Xiu-Tian ORCID logoORCID: https://orcid.org/0000-0002-3798-7414 and Gu, Dongbing;
  • Item type:Conference or Workshop Item(Paper)
    ID code:64678
    Dates:
    Date
    Event
    10 September 2018
    Published
    27 June 2018
    Accepted
    Notes:© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
    Subjects:Technology > Electrical engineering. Electronics Nuclear engineering
    Department:Faculty of Engineering > Design, Manufacture and Engineering Management
    Depositing user: Pure Administrator
    Date deposited:04 Jul 2018 11:40
    Last modified:20 Nov 2024 01:44
    Related URLs:
    URI:https://strathprints.strath.ac.uk/id/eprint/64678
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