ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments

Authors

  • Chonhyon Park University of North Carolina at Chapel Hill
  • Jia Pan University of North Carolina at Chapel Hill
  • Dinesh Manocha University of North Carolina at Chapel Hill

DOI:

https://doi.org/10.1609/icaps.v22i1.13513

Abstract

We present a novel optimization-based algorithm for motion planning in dynamic environments. Our approach uses a stochastic trajectory optimization framework to avoid collisions and satisfy smoothness and dynamics constraints. Our algorithm does not require a priori knowledge about global motion or trajectories of dynamic obstacles. Rather, we compute a conservative local bound on the position or trajectory of each obstacle over a short time and use the bound to compute a collision-free trajectory for the robot in an incremental manner. Moreover, we interleave planning and execution of the robot in an adaptive manner to balance between the planning horizon and responsiveness to obstacle. We highlight the performance of our planner in a simulated dynamic environment with the 7-DOF PR2 robot arm and dynamic obstacles.

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Published

2012-05-14

How to Cite

Park, C., Pan, J., & Manocha, D. (2012). ITOMP: Incremental Trajectory Optimization for Real-Time Replanning in Dynamic Environments. Proceedings of the International Conference on Automated Planning and Scheduling, 22(1), 207-215. https://doi.org/10.1609/icaps.v22i1.13513