C-Uniform Trajectory Sampling For Fast Motion Planning
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866916400138813440 |
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| author | Poyrazoglu, O. Goktug Cao, Yukang Isler, Volkan |
| author_facet | Poyrazoglu, O. Goktug Cao, Yukang Isler, Volkan |
| contents | We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to biased samples of the configuration space), C-Uniform trajectories are generated by control actions which lead to uniform sampling of the configuration space. After presenting an intuitive closed-form solution to generate C-Uniform trajectories for the 1D random-walker, we present a network-flow based optimization method to precompute C-Uniform trajectories for general robot systems. We apply the notion of C-Uniformity to the design of Model Predictive Path Integral controllers. Through simulation experiments, we show that using C-Uniform trajectories significantly improves the performance of MPPI-style controllers, achieving up to 40% coverage performance gain compared to the best baseline. We demonstrate the practical applicability of our method with an implementation on a 1/10th scale racer. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_12266 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | C-Uniform Trajectory Sampling For Fast Motion Planning Poyrazoglu, O. Goktug Cao, Yukang Isler, Volkan Robotics We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to biased samples of the configuration space), C-Uniform trajectories are generated by control actions which lead to uniform sampling of the configuration space. After presenting an intuitive closed-form solution to generate C-Uniform trajectories for the 1D random-walker, we present a network-flow based optimization method to precompute C-Uniform trajectories for general robot systems. We apply the notion of C-Uniformity to the design of Model Predictive Path Integral controllers. Through simulation experiments, we show that using C-Uniform trajectories significantly improves the performance of MPPI-style controllers, achieving up to 40% coverage performance gain compared to the best baseline. We demonstrate the practical applicability of our method with an implementation on a 1/10th scale racer. |
| title | C-Uniform Trajectory Sampling For Fast Motion Planning |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.12266 |