Multi-resolution Kinodynamic Motion Planning with Completeness Guarantees
Professor Panos Tsiotras
Friday, November 18, 2011
AE Bldg 442
|Abstract: Motion planning for mobile vehicles involves the solution of two
sub-problems: the satisfaction of high-level logical task specifications
and the design of low-level vehicle control laws. A hierarchical solution
of these two sub-problems is efficient, but may not ensure compatibility
between the high-level planner and the constraints imposed by the vehicle
To guarantee such compatibility, we propose a motion planning framework
based on a special interaction between these two levels of planning. In
particular, we solve a special shortest path problem on a graph at the
higher-level of planning, and we use the lower-level planner to
the costs of the paths in that graph. The overall approach hinges on two
novel ingredients: a graph-search algorithm that operates on sequences of
vertices, and a lower-level planner that ensures consistency between the
levels of hierarchy, by providing meaningful costs for the edge
of the higher-level planner using dynamically feasible, collision-free
trajectories. We then extend the approach to a path- and motion planning
scheme that is “multi-resolution,” both in the sense of representing the
environment with high accuracy only locally, and in the sense of
addressing the vehicle kinematic and dynamic constraints only locally.
The proposed scheme uses rectangular multiresolution cell decompositions,
generated efficiently using the wavelet transform.
We prove the completeness of the proposed path
planning scheme and we provide numerical simulation results to
illustrate its efficacy.
|Bio: Panagiotis Tsiotras is a Professor in the School of Aerospace
Engineering at the Georgia
Institute of Technology. He received a Ph.D. degree in aeronautics and
astronautics from Purdue University in 1993, an M.S. degree in aerospace
engineering from Virginia Tech in 1987, and an engineering diploma in
mechanical engineering from the National Technical University of Athens,
Greece in 1986. He also holds an M.S. degree in Mathematics from Purdue
University. Professor Tsiotras is a recipient of the NSF CAREER Award.
His research interests are primarily in optimal and nonlinear control and
vehicle autonomy. He is a Fellow of the AIAA and a Senior Member of IEEE.