| 1. |
- Heiden, Eric, et al.
(author)
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Bench-MR : A Motion Planning Benchmark for Wheeled Mobile Robots
- 2021
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In: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 6:3, s. 4536-4543
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Journal article (peer-reviewed)abstract
- Planning smooth and energy-efficient paths for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, several sampling-based motion-planning algorithms, extend functions and post-smoothing algorithms have been introduced for such motion-planning systems. Choosing the best combination of components for an application is a tedious exercise, even for expert users. We therefore present Bench-MR, the first open-source motion-planning benchmarking framework designed for sampling-based motion planning for nonholonomic, wheeled mobile robots. Unlike related software suites, Bench-MR is an easy-to-use and comprehensive benchmarking framework that provides a large variety of sampling-based motion-planning algorithms, extend functions, collision checkers, post-smoothing algorithms and optimization criteria. It aids practitioners and researchers in designing, testing, and evaluating motion-planning systems, and comparing them against the state of the art on complex navigation scenarios through many performance metrics. Through several experiments, we demonstrate how Bench-MR can be used to gain extensive insights from the benchmarking results it generates.
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| 2. |
- Palmieri, Luigi, et al.
(author)
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Dispertio : Optimal Sampling For Safe Deterministic Motion Planning
- 2020
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In: IEEE Robotics and Automation Letters. - : Institute of Electrical and Electronics Engineers (IEEE). - 2377-3766. ; 5:2, s. 362-368
-
Journal article (peer-reviewed)abstract
- A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based motion planners have been shown to achieve good performance towards this end, in particular in terms of planning efficiency, final solution cost, quality guarantees as well as non-probabilistic completeness. Yet their application is still limited to relatively simple systems (i.e., linear, holonomic, Euclidean state spaces). In this work, we extend this technique to the class of symmetric and optimal driftless systems by presenting Dispertio, an offline dispersion optimization technique for computing sampling sets, aware of differential constraints, for sampling-based robot motion planning. We prove that the approach, when combined with PRM*, is deterministically complete and retains asymptotic optimality. Furthermore, in our experiments we show that the proposed deterministic sampling technique outperforms several baselines and alternative methods in terms of planning efficiency and solution cost.
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