We present a method for manipulation planning derived from a systematic approach to constrained motion planning. We call it a method of Progressive Constraints. It replaces an original problem by a series of progressively constrained ones, and makes a solution of the current problem converge toward a solution of the original problem. The manipulation constraints are analyzed and it is shown how they can be introduced progressively. The Progressive Constraints framework can thus be used for solving manipulation planning problems. The general algorithm proposed for constrained motion planning can be derived from a standard geometric path planner. We use the variational dynamic programming (VDP) path planner, in which at every iteration a current path is used to generate a submanifold that is searched for a better path.
In this paper, we address the problem of automatically generating motions for nonholonomic systems consisting of tractors with trailers. The presented method generalizes an existing dynamic programming exploration technique using a progressive constraints approach. It has performed well in experiments with multibody vehicles moving with few reversals in cluttered environments.
In this paper, we establish necessary and suficient conditions under which manipulation constraints are holonomic. Then we present a systematic approach to motion planning in the presence of manipulation constraints deriving j b m this theory. Its principle is to replace a constrained problem by a convergent series of less constrained subproblems increasingly penalizing motions that do not satisfy the constraints. Each subproblem is solved using a standard path planner. We use the method of Variational Dynamic Programming for solving the subproblems. The implemented planner has solved manipulation planning problems of unprecedented complexity.
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