CHOMP: Gradient Optimization Techniques for Efficient Motion Planning

Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation (ICRA), May, 2009.


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Abstract
Existing high-dimensional motion planning algorithms are simultaneously overpowered and underpowered. In domains sparsely populated by obstacles, the heuristics used by sampling-based planners to navigate “narrow passages” can be needlessly complex; furthermore, additional post-processing is required to remove the jerky or extraneous motions from the paths that such planners generate. In this paper, we present CHOMP, a novel method for continuous path refinement that uses covariant gradient techniques to improve the quality of sampled trajectories. Our optimization technique converges over a wider range of input paths and is able to optimize higher-order dynamics of trajectories than previous path optimization strategies. As a result, CHOMP can be used as a standalone motion planner in many real-world planning queries. The effectiveness of our proposed method is demonstrated in manipulation planning for a 6-DOF robotic arm as well as in trajectory generation for a walking quadruped robot.

Keywords
High-dimensional motion planning, trajectory optimization, covariant optimization, functional gradients, mobile manipulation, quadrupedal locomotion

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Nathan Ratliff, Matthew Zucker, J. Andrew (Drew) Bagnell, and Siddhartha Srinivasa, "CHOMP: Gradient Optimization Techniques for Efficient Motion Planning," IEEE International Conference on Robotics and Automation (ICRA), May, 2009.

BibTeX Reference
@inproceedings{Ratliff_2009_6285,
   author = "Nathan Ratliff and Matthew Zucker and J. Andrew (Drew) Bagnell and Siddhartha Srinivasa",
   title = "CHOMP: Gradient Optimization Techniques for Efficient Motion Planning",
   booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
   month = "May",
   year = "2009",
}