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Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization
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@MISC{Duan_planninglocally,
author = {Yan Duan and Sachin Patil and John Schulman and Ken Goldberg and Pieter Abbeel},
title = {Planning Locally Optimal, Curvature-Constrained Trajectories in 3D using Sequential Convex Optimization},
year = {}
}
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Abstract
Abstract — 3D curvature-constrained motion planning finds applications in a wide variety of domains, including motion planning for flexible, bevel-tip medical needles, planning curvature-constrained channels in 3D printed implants for targeted brachytherapy dose delivery or channels for cooling turbine blades, and path planning for unmanned aerial vehicles (UAVs). In this work, we present a motion planning technique using sequential convex optimization for computing locally optimal, curvature-constrained trajectories to desired targets while avoiding obstacles in 3D environments. We report two main contributions in this work: (i) curvature-constrained trajectory optimization in 6D pose (position and orientation) space, and (ii) planning multiple trajectories that are mutually collisionfree. We demonstrate the performance of our approach on two clinically motivated applications. Our experiments indicate that our approach can compute high-quality plans for medical needle steering in 1.6 seconds on a commodity PC, enabling replanning during execution to correct for perturbations. Our approach can also be used for designing optimized channel layouts within 3D printed implants for intracavitary brachytherapy. I.
Keyphrases
curvature-constrained trajectory sequential convex optimization locally optimal printed implant curvature-constrained motion planning turbine blade medical needle steering commodity pc curvature-constrained trajectory optimization intracavitary brachytherapy path planning targeted brachytherapy dose delivery high-quality plan main contribution motion planning curvature-constrained channel planning multiple trajectory bevel-tip medical needle unmanned aerial vehicle optimized channel layout motivated application motion planning technique wide variety
