A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2019
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915559565688832 |
|---|---|
| author | Vukosavljev, Marijan Kroeze, Zachary Schoellig, Angela P. Broucke, Mireille E. |
| author_facet | Vukosavljev, Marijan Kroeze, Zachary Schoellig, Angela P. Broucke, Mireille E. |
| contents | We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on allowable sequences of motion primitives are formalized through a maneuver automaton. At the high level, a control policy determines which motion primitive is executed in each box of the gridded workspace. We state general conditions on motion primitives to obtain provably correct behavior so that a library of safe-by-design motion primitives can be designed. The overall framework yields a highly robust design by utilizing feedback strategies at both the low and high levels. We provide specific designs for motion primitives and control policies suitable for multi-robot motion planning; the modularity of our approach enables one to independently customize the designs of each of these components. Our approach is experimentally validated on a group of quadrocopters. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1905_00495 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives Vukosavljev, Marijan Kroeze, Zachary Schoellig, Angela P. Broucke, Mireille E. Robotics Systems and Control We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on allowable sequences of motion primitives are formalized through a maneuver automaton. At the high level, a control policy determines which motion primitive is executed in each box of the gridded workspace. We state general conditions on motion primitives to obtain provably correct behavior so that a library of safe-by-design motion primitives can be designed. The overall framework yields a highly robust design by utilizing feedback strategies at both the low and high levels. We provide specific designs for motion primitives and control policies suitable for multi-robot motion planning; the modularity of our approach enables one to independently customize the designs of each of these components. Our approach is experimentally validated on a group of quadrocopters. |
| title | A Modular Framework for Motion Planning using Safe-by-Design Motion Primitives |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/1905.00495 |