Carnegie Mellon University
The
Distance Metrics and Algorithms for Task Space Path Optimization

Rachel Holladay and Siddhartha Srinivasa
IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016.


Download
  • Adobe portable document format (pdf) (1MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
We propose a method for generating a configuration space path that closely follows a desired task space path despite the presence of obstacles. We formalize closeness via two path metrics based on the discrete Hausdorff and Frechet distances. Armed with these metrics, we can cast our problem as a trajectory optimization problem. We also present two techniques to assist our optimizer in the case of local minima by further constraining the trajectory. Finally, we leverage shape matching analysis, the Procrustes metric, to compare with respect to only their shape.

Keywords
motion planning, task space, task space planning, distance metrics, trajectory optimization, frechet distance, hausdorff distance

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
Number of pages: 8

Text Reference
Rachel Holladay and Siddhartha Srinivasa, "Distance Metrics and Algorithms for Task Space Path Optimization," IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2016.

BibTeX Reference
@inproceedings{Holladay__2016_8187,
   author = "Rachel {Holladay } and Siddhartha Srinivasa",
   title = "Distance Metrics and Algorithms for Task Space Path Optimization",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   month = "October",
   year = "2016",
}