Parallel collision check for sensor based real-time motion planning

Massimo Cefalo; Emanuele Magrini; Giuseppe Oriolo

doi:10.1109/ICRA.2017.7989225

Parallel collision check for sensor based real-time motion planning

Massimo Cefalo
, Emanuele Magrini
, Giuseppe Oriolo

University of Rome La Sapienza

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over a given planning horizon. Obstacles are avoided exploiting the redundancy of the robot. Reactive velocities are computed for some control points placed on the robot and projected in the null space of the task Jacobian. The approach is validated through simulations in V-Rep environments and experiments on the KUKA LWR-IV 7-DoF manipulator.

Original language	English
Title of host publication	ICRA 2017 - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1936-1943
Number of pages	8
ISBN (Electronic)	9781509046331
ISBN (Print)	9781509046348
DOIs	https://doi.org/10.1109/ICRA.2017.7989225
Publication status	Published - 24 Jul 2017
Externally published	Yes
Event	2017 IEEE International Conference on Robotics and Automation, ICRA 2017 - Marina Bay Sands, Singapore Duration: 29 May 2017 → 3 Jun 2017

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Country/Territory	Singapore
City	Marina Bay Sands,
Period	29/05/17 → 3/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Access to Document

10.1109/ICRA.2017.7989225Licence: Other

Cite this

Cefalo, M., Magrini, E., & Oriolo, G. (2017). Parallel collision check for sensor based real-time motion planning. In ICRA 2017 - IEEE International Conference on Robotics and Automation (pp. 1936-1943). Article 7989225 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2017.7989225

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title = "Parallel collision check for sensor based real-time motion planning",

abstract = "In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over a given planning horizon. Obstacles are avoided exploiting the redundancy of the robot. Reactive velocities are computed for some control points placed on the robot and projected in the null space of the task Jacobian. The approach is validated through simulations in V-Rep environments and experiments on the KUKA LWR-IV 7-DoF manipulator.",

author = "Massimo Cefalo and Emanuele Magrini and Giuseppe Oriolo",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Automation, ICRA 2017 ; Conference date: 29-05-2017 Through 03-06-2017",

year = "2017",

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doi = "10.1109/ICRA.2017.7989225",

language = "English",

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Cefalo, M, Magrini, E & Oriolo, G 2017, Parallel collision check for sensor based real-time motion planning. in ICRA 2017 - IEEE International Conference on Robotics and Automation., 7989225, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1936-1943, 2017 IEEE International Conference on Robotics and Automation, ICRA 2017, Marina Bay Sands, Singapore, 29/05/17. https://doi.org/10.1109/ICRA.2017.7989225

Parallel collision check for sensor based real-time motion planning. / Cefalo, Massimo; Magrini, Emanuele; Oriolo, Giuseppe.
ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1936-1943 7989225 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over a given planning horizon. Obstacles are avoided exploiting the redundancy of the robot. Reactive velocities are computed for some control points placed on the robot and projected in the null space of the task Jacobian. The approach is validated through simulations in V-Rep environments and experiments on the KUKA LWR-IV 7-DoF manipulator.

AB - In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion planning problem for a redundant manipulator. We propose a proof-of-concept motion planner based on fast collision check of predicted robot motion over a given planning horizon. Obstacles are avoided exploiting the redundancy of the robot. Reactive velocities are computed for some control points placed on the robot and projected in the null space of the task Jacobian. The approach is validated through simulations in V-Rep environments and experiments on the KUKA LWR-IV 7-DoF manipulator.

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DO - 10.1109/ICRA.2017.7989225

M3 - Conference contribution

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BT - ICRA 2017 - IEEE International Conference on Robotics and Automation

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T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017

Y2 - 29 May 2017 through 3 June 2017

ER -

Parallel collision check for sensor based real-time motion planning

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Cite this