Enhancing Rigid Body Path Planning via Anchor Frame Optimization: Anchor Frame Impact Assessment and Strategization
Typ
Examensarbete för masterexamen
Master's Thesis
Master's Thesis
Program
Engineering mathematics and computational science (MPENM), MSc
Publicerad
2024
Författare
Alvinge, Samuel
Blom, Axel
Modellbyggare
Tidskriftstitel
ISSN
Volymtitel
Utgivare
Sammanfattning
In the field of computational geometry, a classical problem is the piano movers’
problem, which involves finding a path for a rigid body, such as a lumbering piano,
through a confined and challenging environment. Solving this requires path planning
algorithms that precisely control and manipulate the object’s position and orientation.
Most path planning algorithms depend on a so-called anchor frame, which
is fixed to the rigid body. Many path planning algorithms find a path through
a six-dimensional configuration space rather than the physical space, often from
the perspective of the anchor frame. This study assesses the impact of the anchor
frame’s pose on the performance of Industrial Path Solutions’ path planning algorithm.
Strategies are proposed that optimize the anchor frame’s orientation and
position for enhanced performance. Sampled measurements from the path planner
are utilized by the strategies to predict the subsequent movement of the rigid body.
Results indicate that appropriate alignment of the anchor frame significantly improves
the navigability of the configuration space, reducing computational efforts
and enhancing overall performance. However, the placement strategy remains challenging
due to the local nature of the available data, and no successful strategy has
been found. The findings underscore the potential of refined orientation strategies
and highlight the need for further research into robust placement techniques.
Beskrivning
Ämne/nyckelord
path planning, rigid body, optimization, efficiency, geometry.