rob otica m ovil

Robotica MovilIntroduction to Planning

Juan Irving Vasquezjivg.org

Consejo Nacional de Ciencia y Tecnologıa (CONACYT)Centro de Innovacion y Desarrollo Tecnologico en Computo (CIDETEC)

Instituto Politecnico Nacional (IPN)

18 de marzo de 2021

J.I. Vasquez (jivg.org) Robotica Movil 18 de marzo de 2021 1 / 20

Planning

Need: Convert high level human orders into low level tasks.Piano mover’s problem

Figura: Laurel and Hardy in The Music Box


Planning

Motion Planning or trajectory planning

Translation an rotationsUncertaintyDifferential constraintsOptimality


Planning from different areas

Control.Motion planning sometimes refers to the construction of inputs to a nonlinear dynamicalsystem that drives it from an initial state to a specified goal state.

Artificial Intelligence.Discrete perspective. The task might be to solve a puzzle, such as the Rubik’s cube or asliding-tile puzzle.


Planning ProblemsDiscrete problems

Discrete puzzles, operations and scheduling


Planning ProblemsContinous problems

Motion planning puzzle


Examples and applicationsMobile robots navigation


Examples and applicationsMobile robots navigation (2)


Examples and applicationsView planning for object reconstruction and inspection

Figura: Object reconstruction with a mobile manipulator.


Examples and applicationsTerrain coverage with UAVs

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Examples and applicationsTrajectory planning for automotive manufacturing


Planning

Another applications?


Basic Ingredients (1/2)

State A state space captures all possible situations that could arise.

Time All planning problems involve a sequence of decisions that must be applied overtime. Time may be either discrete or continuous.

Actions An action manipulates the state.

Initial and goal states They are subsets of the sate space


Basic Ingredients (2/2)

A criterion This encodes the desired outcome of a plan in terms of the state and actionsthat are executed.

FeasibilityOptimality

A plan A plan imposes a specific strategy or behavior on a decision maker.A plan may simply specify a sequence of actions to be taken; however, it couldbe more complicated..


A Planning Algorithm

An algorithm. A Turing machine is a finite state machine with a special head that canread and write along an infinite piece of tape.

The Turing machine reads the string, performs computations, and then decides whetherto accept or reject the string.


Algorithms in Real Environments


Planners

A planner simply constructs a plan and may be a machine or a human.

If the planner is a machine, it will generally be considered as a planning algorithm.


Planners


Plans

They are used in three ways:

Execution. Execute it either in simulation or in a mechanical device (robot) connected tothe physical world.

Refinement. Refine it into a better plan.

Hierarchical inclusion. Package it as an action in a higher level plan. Each of these will beexplained in succession.


Further reading...

LaValle, S. M. (2006). Planning algorithms. Cambridge university press.


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