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 publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
    Pages173-179
    Number of pages7
    DOIs
    Publication statusPublished - 2012
    Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung
    Duration: 2012 Jul 112012 Jul 14

    Other

    Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
    CityKaohsiung
    Period12/7/1112/7/14

    Fingerprint

    Motion planning
    Phase space methods
    Pendulums
    Kinematics
    Robots
    Planning

    ASJC Scopus subject areas

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

    Cite this

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

    Motion planning using state-dispersion-based phase space partition. / Kim, Chyon Hae; Yamazaki, Shota; Tsujino, Hiroshi; Sugano, Shigeki.

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 173-179 6265876.

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

    Kim, CH, Yamazaki, S, Tsujino, H & Sugano, S 2012, Motion planning using state-dispersion-based phase space partition. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 6265876, pp. 173-179, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012, Kaohsiung, 12/7/11. https://doi.org/10.1109/AIM.2012.6265876
    Kim CH, Yamazaki S, Tsujino H, Sugano S. Motion planning using state-dispersion-based phase space partition. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. p. 173-179. 6265876 https://doi.org/10.1109/AIM.2012.6265876
    Kim, Chyon Hae ; Yamazaki, Shota ; Tsujino, Hiroshi ; Sugano, Shigeki. / Motion planning using state-dispersion-based phase space partition. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2012. pp. 173-179
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