Motion planning using state-dispersion-based phase space partition

Chyon Hae Kim, Shota Yamazaki, Hiroshi Tsujino, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper addresses a phase space partitioning problem in motion planning systems. In a previous study, we developed a kinematic and dynamic motion planning system, known as rapid semi-optimal motion-planning (RASMO), that ensures the optimality of the planned motions with rapid calculations using a partition for the phase space. The shape of the partition determines the optimality of the motion. We propose a state-dispersion-based phase space partitioning (SDPP) method that generates adaptive partitions for RASMO and the same class of motion planning systems. These partitions allow motion planning systems to plan motions with better optimality. To validate SDPP method, we compared the optimality of RASMO in several conditions using a double inverted pendulum model while setting the optimality criterion of RASMO to time. Results show that RASMO with SDPP planned smaller time motions than that obtained RASMO with a uniform partition. Once this method is applied to a machine (e.g. industrial or space robots), the planning system provides better motions with the same calculation cost.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages173-179
Number of pages7
DOIs
Publication statusPublished - 2012 Oct 5
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period12/7/1112/7/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Motion planning using state-dispersion-based phase space partition'. Together they form a unique fingerprint.

  • Cite this

    Kim, C. H., Yamazaki, S., Tsujino, H., & Sugano, S. (2012). Motion planning using state-dispersion-based phase space partition. In AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest (pp. 173-179). [6265876] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2012.6265876