DOI 10.17586/0021-3454-2022-65-5-323-334
UDC 004.896
PERFORMANCE ANALYSIS AND STATIC PARAMETERS SETTING OF SINGLE-QUERY TRAJECTORY PLANNERS
ITMO University, Faculty of Control Systems and Robotics; ;
S. A. Kolyubin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
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Abstract. Results of a study of the of motion planner performance based on single query sample of a for various kinematics of robotic manipulators and environmental characteristics are presented. The analysis is carried out in relation to the problems of finding a path in a multidimensional configuration space. Unidirectional and bidirectional planners are analyzed according to their sensitivity to changes in the values of two key static parameters: Range and Goal-Bias. It is shown that there are either minimal threshold or optimal values of each of the parameters considered, which differ significantly for various planning algorithms, but are practically invariant to the kinematics and the degree of filling of the robot environment with obstacles. Recommendations on tuning the considered static parameters of the planners are proposed.
Keywords: motion planning, sample-based planners, shortest path, robotic manipulators
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