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ICRA
2009
IEEE

CHOMP: Gradient optimization techniques for efficient motion planning

10 years 2 months ago
CHOMP: Gradient optimization techniques for efficient motion planning
Abstract-- Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by sampling-based planners to navigate "narrow passages" can be needlessly complex; furthermore, additional post-processing is required to remove the jerky or extraneous motions from the paths that such planners generate. In this paper, we present CHOMP, a novel method for continuous path refinement that uses covariant gradient techniques to improve the quality of sampled trajectories. Our optimization technique converges over a wider range of input paths and is able to optimize higherorder dynamics of trajectories than previous path optimization strategies. As a result, CHOMP can be used as a standalone motion planner in many real-world planning queries. The effectiveness of our proposed method is demonstrated in manipulation planning for a 6-DOF robotic arm as well as in trajectory generation for a w...
Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell,
Added 19 Feb 2011
Updated 19 Feb 2011
Type Journal
Year 2009
Where ICRA
Authors Nathan D. Ratliff, Matt Zucker, J. Andrew Bagnell, Siddhartha Srinivasa
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