Kinodynamic motion planning with hardware demonstrations

Abstract— This paper provides proof-of-concept that stateof-the-art sampling-based motion planners that are tightly integrated with a physics-based simulator can compute paths that can be executed by a physical robotic system. Such a goal has been the subject of intensive research during the last few years and reflects the desire of the motion planning community to produce paths that are directly relevant to realistic mechanical systems and do not need a huge postprocessing step in order to be executed on a robotic platform. To evaluate this approach, a recently developed motion planner is used to compute paths for a modular robot constructed from seven modules. These paths are then executed on hardware and compared with the paths predicted by the planner. For the system considered, the planner prediction and the paths achieved by the physical robot match, up to small errors. This work reveals the potential of modern motion planning research and its implications in the design and op...

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Ioan Alexandru Sucan, Jonathan F. Kruse, Mark Yim, Lydia E. Kavraki
• Keywords: IROS 2008, Motion Planner, Motion Planning, Robotic Platforms, Robotics