Fast-Reactive Probabilistic Motion Planning for High-Dimensional Robots

SN Comput. Sci.(2021)

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Abstract
Many real-world robotic operations that involve high-dimensional humanoid robots require fast reaction to plan disturbances and probabilistic guarantees over collision risks, whereas most probabilistic motion planning approaches developed for car-like robots cannot be directly applied to high-dimensional robots. In this paper, we present probabilistic Chekov ( p-Chekov ), a fast-reactive motion planning system that can provide safety guarantees for high-dimensional robots suffering from process noises and observation noises. Leveraging recent advances in machine learning as well as our previous work in deterministic motion planning that integrated trajectory optimization into a sparse roadmap framework, p-Chekov demonstrates its superiority in terms of collision avoidance ability and planning speed in high-dimensional robotic motion planning tasks in complex environments without the convexification of obstacles. Comprehensive theoretical and empirical analysis provided in this paper shows that p-Chekov can effectively satisfy user-specified chance constraints over collision risk in practical robotic manipulation tasks.
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Key words
Motion planning,Manipulation,Risk-aware planning,Machine learning
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