“visibility-based probabilistic roadmaps for motion planning” siméon, laumond, nissoux...
Post on 19-Dec-2015
215 views
TRANSCRIPT
“Visibility-based Probabilistic Roadmaps for Motion Planning”
Siméon, Laumond, Nissoux
Presentation by: Mathieu BredifCS326A: Paper Review
Winter 2004
Motivation
• Save computation time without sacrificing coverage and connectivity.
• Visibility PRM is an optimized variation of basic PRM
Ensuring Coverage
• Visibility Domain of configuration q:
qVisibility =
Local planer =
Dynamic CollisionChecking on:-Straight lines
-Manhattan paths-Non-holonomic
…
Ensuring Coverage
• Free Space Coverage with Guard nodes
SharedVisibility
Guard
Ensuring Coverage
• Free Space Coverage with Guard nodes
SharedVisibility
Guard
Creating Connections
• Completing roadmap with Connection nodes
Connection
SharedVisibility
Guard
Implementation Strategy
Implementation Strategy
Implementation Strategy
Implementation Strategy
Implementation Strategy
Implementation Strategy
Implementation Strategy
Implementation Strategy
Termination criterion
• Meanwhile: 1/ntry = estimation of the volume of the subset of the free space not yet covered by visibility domains.
• M is max number of failures before the insertion of a new guard node.
• (1-1/M) = estimation of the coverage.
Pathological Case
• Probability of connection between guard nodes depend on where they are (randomly) placed.
Possible Improvements
• It might be nice to have movable guards to prevent pathological case.
• Use sampling techniques to find narrow passages (First Paper).
Visibility PRM – Basic PRM comparison
• Heavier Node “filtering” process BUT reduction in calls to the local method, from O(n2) to O(n).
• Remaining problems of randomly chosen configuration points (inherent to PRM).
Conclusions
• Roadmap size is reduced.– Faster Queries– Few potential routes to choose from (good or bad?)
• Control of the coverage by (1-1/M)
• Computation Costs seem to be lower than with Basic-PRM.