Centralized vs. Decoupled Dual-arm Planning Taking into Account Path Quality

摘要

Abstract The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning approach that ensures $$\varvec{\mathcal {C}^2}$$ <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mrow> <mml:msup> <mml:mrow> <mml:mi>C</mml:mi> </mml:mrow> <mml:mn>2</mml:mn> </mml:msup> </mml:mrow> </mml:math> -continuous control commands with zero velocities and zero accelerations at the start and goal. We benchmark our decoupled approach with a centralized approach. Contrary to literature, we show that for a standard motion planning pipeline, such as the one used by MoveIt! , centralized planning is superior to decoupled planning in dual-arm manipulation: It has a lower computation time and a higher robustness. Our second contribution is an optimization that minimizes the rotational motion of an end-effector while considering obstacle avoidance. We derive the analytic gradients of this optimization problem, making the algorithm suitable for online motion planning. Our optimization extends an existing path quality improvement method. Integrating it into our decoupled approach overcomes its shortcomings and provides a motion planning pipeline that is robust at up to 99.9 % with a planning time of less than 1 s and that computes high-quality paths.