Enhancing Rigid Body Path Planning via Anchor Frame Optimization: Anchor Frame Impact Assessment and Strategization

Abstract

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.