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Cell Decomposition Methods free space s obstacle free path - PowerPoint PPT Presentation

Oct 25, 2022 •735 likes •947 views

Cell Decomposition Methods free space s obstacle free path obstacle g obstacle Slides borrowed from: Latombes book and slides, Choset, Kuffner Problem Given: a point-robot (robot is a point in space) a start and goal

  1. Cell Decomposition Methods free space s obstacle free path obstacle g obstacle Slides borrowed from: Latombe’s book and slides, Choset, Kuffner

  2. Problem Given: – a point-robot (robot is a point in space) – a start and goal configuration Find: – path from start to goal that does not result in a collision free space s obstacle free path obstacle g obstacle

  3. Motion planning framework Continuous representation Discretization Graph searching (blind, best-fjrst, A*)

  4. Approximate Cell Decomposition

  5. Approximate Cell Decomposition

  6. Approximate Cell Decomposition

  7. Approximate Cell Decomposition

  8. Approximate Cell Decomposition 1. Compute cell decomposition down to some resolution 2. Identify start and goal cells 3. Search for sequence of empty/mixed cells between start and goal cells 4. If no sequence, then exit with no path 5. If sequence of empty cells, then exit with solution 6. If resolution threshold achieved, then exit with failure 7. Decompose further the mixed cells 8. Return to 2

  9. Approximate Cell Decomposition

  10. Approximate Cell Decomposition

  11. Approximate Cell Decomposition

  12. Exact Cell Decomposition

  13. Exact Cell Decomposition

  14. Exact Cell Decomposition

  15. Exact Cell Decomposition

  16. Exact Cell Decomposition

  17. Exact Cell Decomposition … critical events  criticality-based decomposition

  18. Exact Cell Decomposition

  19. Exact Cell Decomposition

  20. Exact Cell Decomposition The good: – exact cell decomposition is complete The bad: – it doesn’t scale well to high dimensions

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