Efficient Motion Planning for Intuitive Task Execution in Modular Manipulation Systems
Markus Rickert, Mai 2011
Computationally efficient motion planning mus avoid exhaustive exploration of high-dimensional configuration spaces by leveraging the structure present in real-world planning problems. We argue that this can be accomplished most effectively by carefully balancing exploration and exploitation.
Exploration seeks to understand configuration space,
irrespective of the planning problem, and exploitation acts to
solve the problem, given the available information obtained
by exploration. We present an exploring/exploiting tree (EET)
planner that balances its exploration and exploitation behavior.
The planner acquires workspace information and subsequently
uses this information for exploitation in configuration space. If
exploitation fails in difficult regions the planner gradually shifts
to its behavior towards exploration.