Hybrid Planning: Task-Space Control and Sampling-Based Planning

Haschke R (2012)
In: Workshop on Robot Motion Planning: Online, Reactive, and in Real-time. .

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Conference Paper | Published | English
Abstract
We propose a hybrid approach to motion planning for redundant robots, which combines a powerful control framework with a sampling-based planner. We argue that a suitably chosen task controller already manages a huge amount of trajectory planning work. However, due to its local approach to obstacle avoidance, it may get stuck in local minima. Therefore we augment it with a globally acting planner, which operates in a lower-dimensional search space, thus circumventing the curse of dimensionality afflicting modern, many-DoF robots.
Publishing Year
Conference
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Location
Vilamoura, Algarve, Portugal
Conference Date
2012-10-07
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Haschke R. Hybrid Planning: Task-Space Control and Sampling-Based Planning. In: Workshop on Robot Motion Planning: Online, Reactive, and in Real-time. 2012.
Haschke, R. (2012). Hybrid Planning: Task-Space Control and Sampling-Based Planning. Workshop on Robot Motion Planning: Online, Reactive, and in Real-time.
Haschke, R. (2012). “Hybrid Planning: Task-Space Control and Sampling-Based Planning” in Workshop on Robot Motion Planning: Online, Reactive, and in Real-time.
Haschke, R., 2012. Hybrid Planning: Task-Space Control and Sampling-Based Planning. In Workshop on Robot Motion Planning: Online, Reactive, and in Real-time.
R. Haschke, “Hybrid Planning: Task-Space Control and Sampling-Based Planning”, Workshop on Robot Motion Planning: Online, Reactive, and in Real-time, 2012.
Haschke, R.: Hybrid Planning: Task-Space Control and Sampling-Based Planning. Workshop on Robot Motion Planning: Online, Reactive, and in Real-time. (2012).
Haschke, Robert. “Hybrid Planning: Task-Space Control and Sampling-Based Planning”. Workshop on Robot Motion Planning: Online, Reactive, and in Real-time. 2012.
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