Distance Metrics and Algorithms for Task Space Path Optimization - PowerPoint PPT Presentation

Oct 02, 2022 •259 likes •908 views

Distance Metrics and Algorithms for Task Space Path Optimization Rachel Holladay Siddhartha Srinivasa The Robotics Institute Carnegie Mellon University Goal: Follow End-Effector Path in Task Space Goal: Follow End-Effector Path in Task

Distance Metrics and Algorithms for Task Space Path Optimization Rachel Holladay Siddhartha Srinivasa The Robotics Institute Carnegie Mellon University
Goal: Follow End-Effector Path in Task Space
Goal: Follow End-Effector Path in Task Space subject to constraints.
Goal: Follow a Reference Path
Goal: Follow a Reference Path by leveraging motion planning.
Key Insight Use trajectory optimization to optimize our path to be close to our reference path.
Key Insight Use trajectory optimization to optimize our path to be close to our reference path.
Task Space
Task Space
Task Space
Task Space Configuration Space
Task Space Configuration Space
FK IK Task Space Configuration Space
How to compare the distance between task space paths?
How to compare the distance between task space paths? Borrow from computational geometry.
One-way Hausdorff Distance
One-way Hausdorff Distance
Two-way Hausdorff Distance
Follow Balls in order .
Fréchet Distance
Fréchet Distance
Fréchet Distance
Fréchet Distance
Fréchet Distance
Fréchet Distance
Use the Fréchet Distance to capture the task space distance between paths.
Gradient of Distance Function
Gradient of Distance Function
Gradient of Distance Function
Discrete Fréchet
How can we assist our optimizer?
Use our distance metrics to find the areas that need additional constraints.
Key Insight Use trajectory optimization to optimize our path to be close to our reference path.
Use computational geometry techniques to measure task space distance between paths.
Distance Metrics and Algorithms for Task Space Path Optimization Rachel Holladay Siddhartha Srinivasa https://www.personalrobotics.ri.cmu.edu http://www.andrew.cmu.edu/user/rmh/

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