Timed-Elastic Bands for Manipulation Motion Planning

Bence Magyar, Nikolaos Tsiogkas, Jérémie Deray, Sammy Pfeiffer, David Lane

Research output: Contribution to journalArticle

Abstract

Motion planning is one of the main problems studied in the field of robotics. However, it is still challenging for the state-of-the-art methods to handle multiple conditions that allow better paths to be found. For example, considering joint limits, path smoothness and a mixture of Cartesian and joint-space constraints at the same time pose a significant challenge for many of them. This letter proposes to use timed-elastic bands for representing the manipulation motion planning problem, allowing to apply continuously optimized constraints to the problem during the search for a solution. Due to the nature of our method, it is highly extensible with new constraints or optimization objectives. The proposed approach is compared against state-of-the-art methods in various manipulation scenarios. The results show that it is more consistent and less variant, while performing in a comparable manner to that of the state of the art. This behavior allows the proposed method to set a lower-bound performance guarantee for other methods to build upon.

Original languageEnglish
Pages (from-to)3513-3520
Number of pages8
JournalIEEE Robotics and Automation Letters
Volume4
Issue number4
Early online date10 Jul 2019
DOIs
Publication statusPublished - Oct 2019

Keywords

  • collision avoidance
  • domestic robots
  • mobile manipulation
  • Motion and path planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence

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