lecture 22 motion planning ii -...
TRANSCRIPT
![Page 1: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/1.jpg)
Lecture 21Motion Planning II
Katie DC
Modern Robotics Ch 10.2-10.5
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Who is Nancy Amato?
• Head of the CS department and expert in motion planning • Her paper on probabilistic planning is one of the most important
papers in PRM, the first to not use uniform sampling in the configuration space
• She wrote a seminal paper with one of her students that shows how robot planning can be applied to protein motions (folding)
• This line of work started a new research area in comp biology
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Motion Planning Review
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Graphs and Trees• Motion planners often represent C-space as a graph
• A graph is a collection of nodes 𝒩 and edges ℰ, were edge 𝑒 connects two nodes
• A tree is a directed graph with no cycles and each node has at lease one parent
![Page 5: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/5.jpg)
Graphs and Trees
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Grid-World Example
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Graph Search Methods
A* search algorithm. Dijkstra’s algorithm.
Credit: Subh83 on Wikipedia
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A simple roadmap: visibility graph
![Page 9: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/9.jpg)
A simple roadmap: visibility graph
![Page 10: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/10.jpg)
Sampling Based Planners: Probabilistic Roadmaps
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Reachability Tree for Dubin’s Car
Credit: Steven LaValle, Planning Algorithms
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Rapidly Exploring Random Trees (RRT)
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Rapidly Exploring Random Trees (RRT)
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RRT: Lunar Lander
Check out Steven Lavalle’s RRT Gallery: http://msl.cs.uiuc.edu/rrt/gallery.html
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Summary
• Given an initial state and a desired final state, motion planning provides us with tools to find a time horizon and a sequence of cations to find a trajectory that reaches the goal without collisions
• A roadmap path planner uses a graph representation of free space, which can then provide a trajectory using search algorithms
• The basic RRT algorithm is a sampling-based method that grows a single search tree from start to find a motion to goal• Uses a local planner to find a motion from the nearest node to the sampled node
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Course Recap
sense
think act
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If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 18: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/18.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 19: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/19.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 20: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/20.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 21: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/21.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 22: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/22.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 23: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/23.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics
![Page 24: Lecture 22 Motion Planning II - publish.illinois.edupublish.illinois.edu/ece470-intro-robotics/files/... · •Head of the CS department and expert in motion planning •Her paper](https://reader033.vdocument.in/reader033/viewer/2022060413/5f11e661d54b486cd945255a/html5/thumbnails/24.jpg)
If you liked… Try this!
Everything! ABE 424 Principles of Mobile RoboticsECE 498 Principles of Safe Autonomy
Linear Algebra MATH 415 Applied Linear AlgebraECE 515 / ME 540 Control System Theory and Design
Probability ECE 313 Probability with Engineering Applications
Sensing and State Estimation ECE 310 / 417 Signal ProcessingECE 437 Sensors and Instrumentation ABE 424 Principles of Mobile Robotics
Robot Kinematics ECE 489 / ME 446 / GE 422 Robot Dynamics and Control
Rigid Body Motion SE 598 Soft Robotics
Control ECE 486 Control Systems (or equivalent in your department)ECE 515 / ME 540 Control System Theory and Design
Decision-Making ECE 448 Introduction to AICS 446 Machine Learning
Planning CS 498 Intelligent Robotics
Labs GE/SE 423 Introduction to Mechatronics
Graduate-Level Topics Courses ECE 598SG Learning-Based RoboticsECE 598HCR Human-Centered RoboticsECE 598 Intro to Humanoid Robotics