Adaptive time stepping in real-time motion planning


Conference Paper

Replanning is a powerful mechanism for controlling robot motion under hard constraints and unpredictable disturbances, but it involves an inherent tradeoff between the planner's power (e.g., a planning horizon or time cutoff) and its responsiveness to disturbances. We present a real-time replanning technique that uses adaptive time stepping to learn the amount of time needed for a sample-based motion planner to make monotonic progress toward the goal. The technique is robust to the typically high variance exhibited by planning queries, and we prove that it is asymptotically complete for a deterministic environment and a static objective. For unpredictable environments, we present an adaptive time stepping contingency planning algorithm that achieves simultaneous safety-seeking and goal-seeking motion. These techniques generate responsive and safe motion in simulated scenarios across a range of difficulties, including applications to pursuit-evasion and aggressive collision-free teleoperation of an industrial robot arm in a cluttered environment. © 2010 Springer-Verlag Berlin Heidelberg.

Full Text

Duke Authors

Cited Authors

  • Hauser, K

Published Date

  • December 20, 2010

Published In

Volume / Issue

  • 68 / STAR

Start / End Page

  • 139 - 155

Electronic International Standard Serial Number (EISSN)

  • 1610-742X

International Standard Serial Number (ISSN)

  • 1610-7438

International Standard Book Number 13 (ISBN-13)

  • 9783642174513

Digital Object Identifier (DOI)

  • 10.1007/978-3-642-17452-0_9

Citation Source

  • Scopus