Benchmarking and optimization of robot motion planning with motion planning pipeline

Abstract

AbstractAlgorithms have been designed for robot motion planning with various adaptability to different problems. However, how to choose the most suitable planner in a scene has always been a problem worthy of research. This paper aims to find the most suitable motion planner for each query under three different scenes and six different queries. The work lies in optimization of sampling-based motion planning algorithms through motion planning pipeline and planning request adapter. The idea is to use the pre-processing of the planning request adapter, to run OMPL as a pre-processer for the optimized CHOMP or STOMP algorithm, and connect through the motion planning pipeline, to realize the optimization of the motion trajectory. The optimized trajectories are compared with original trajectories through benchmarking. The benchmarking determines the most suitable motion planning algorithm for different scenarios and different queries. Experimental results show that after optimization, the planning time of the algorithm is longer, but the efficiency is significantly improved. In the low-complexity scenes, STOMP optimizes the sampling algorithm very well, improves the trajectory quality greatly, and has a higher success rate. CHOMP also has a good optimization of the sampling algorithm, but it reduces the success rate of the original algorithm. However, in more complex scenes, optimization performance of the two optimization methods may not be as good as the original algorithm. In future work, we need to find better algorithms and better optimization algorithms to tackle with complex scenes.