On Delaying Collision Checking in PRM Planning对延缓PRM规划碰撞检测.pptVIP

On Delaying Collision Checking in PRM Planning G. Sánchez and J. Latombe Background PRM spends a large amount of time checking for collisions Most connection paths go unused Collision free paths take longer to verify Shorter connections have higher probability of being free paths Improvement possible by Introducing better collision checking Designing smarter sampling strategies Avoiding testing all connections between milestones SBL Planner Single-query Bi-directional Lazy collision-checking Experimental Foundation Observations from Hsu’s planner led to SBL: Most local paths are not on the final path Collision-free tests are most expensive Short connections between two milestones have high prior probabilities of being free If a connection is colliding, it’s midpoint has high probability of being in collision Short connections likely to be collision-free If a connection is colliding, it’s midpoint likely to collide “Fat Obstacles” A short colliding segment with collision free endpoints is necessarily almost tangential to an obstacle region in C, an event that has small probability of happening. Description of the SBL Planner SBL Algorithm Install qinit and qgoal as the roots of Tinit and Tgoal respectively Repeat s times EXPAND τ ← CONNECT If τ ≠ nil then return τ Return failure EXPAND EXPAND Algorithm Pick T to be either Tinit or Tgoal, each with P=0.5 Pick a milestone m at random, with P π(m) ~ 1/η(m) For i = 1,2,… until a new q been generated Pick a configuration q uniformly at random from B(m, ρ/i) If q is collision-free, then install it as a child of m in T Diffusion with a Grid CONNECT CONNECT Algorithm m ← most recently created milestone m’ ← closest milestone to m in the other tree If d(m,m’) ρ then Connect m and m’ by a bridge w τ ← path connecting qinit and qgoal Return TEST-PATH Return nil SBL Example Some Examples Impact of Lazy Collision Checking Some More Examples More Examples Obstacle Jumping Example Comments Simple algor