Enhancing randomized motion planners: exploring with haptic hints
- 7 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1 (10504729), 529-536
- https://doi.org/10.1109/robot.2000.844108
Abstract
We investigate methods for enabling a human operator and an automatic motion planner to cooperatively solve a motion planning query. Our goal is to develop techniques by which the automatic planner can utilize (easily generated) user-input, and determine 'natural' ways to inform the user of the progress made by the motion planner. We show that simple randomized techniques inspired by probabilistic roadmap methods are quite useful for transforming approximate, user-generated paths into collision-free paths, and describe an iterative transformation method which enables one to transform a solution for an easier version of the problem into a solution for the original problem. We also illustrate that simple visualization techniques can provide meaningful representations of the planner's progress in a 6-dimensional C-space. We illustrate the utility of our methods on difficult problems involving complex 3D CAD models.Keywords
This publication has 17 references indexed in Scilit:
- Collision control in teleoperation by virtual force reflection. An application to the ROBTET systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Operating in configuration space significantly improves human performance in teleoperationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Image based predictive display for tele-manipulationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Force display system for manipulating thin flexible objectsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Haptic feedback of kinematic conditioning for telerobotic applicationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Pearls found on the way to the ideal interface for scanned probe microscopesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Human computer cooperation in interactive motion planningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Probabilistic roadmaps for path planning in high-dimensional configuration spacesIEEE Transactions on Robotics and Automation, 1996
- Gross motion planning—a surveyACM Computing Surveys, 1992
- Robot Motion PlanningPublished by Springer Nature ,1991