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About this paper
Tobia Marcucci, Parth Nobel, Russ Tedrake, Stephen Boyd
An algorithm for fast, guaranteed-safe, and smooth path planning navigates large, static environments represented by thousands of axis-aligned safe boxes. It achieves online planning in seconds for complex 3D scenarios, demonstrating significant speedup over mixed-integer programming while ensuring collision-free, high-quality trajectories.
Key insights
- The complex non-convex path planning problem is efficiently decomposed into a discrete graph search for box sequences and a series of fast, solvable convex optimization subproblems for path details.
- Safety is guaranteed by leveraging the convex hull property of B ézier curves, ensuring the entire path remains within safe boxes by constraining only the curve's control points.
- An iterative refinement strategy in both the polygonal and smooth phases, including trust-region methods, rapidly converges to high-quality trajectories despite the problem's initial nonconvexity.
Summary by alphaXiv.
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