arXiv:2202.07203
Collision-free Path Planning in the Latent Space through cGANs
Collision-free Path Planning in the Latent Space through cGANs
著者: Tomoki Ando, Hiroki Mori, Ryota Torishima, Kuniyuki Takahashi, Shoichiro Yamaguchi, Daisuke Okanohara, Tetsuya Ogata
分類: cs.RO
原文アブストラクト
We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated two-link robot arm.