Collision-free Path Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs.
Tomoki AndoHiroto IinoHiroki MoriRyota TorishimaKuniyuki TakahashiShoichiro YamaguchiDaisuke OkanoharaTetsuya OgataPublished in: CoRR (2022)
Keyphrases
- path planning
- collision free
- optimization criteria
- latent space
- latent variables
- mobile robot
- path planner
- low dimensional
- motion planning
- optimization problems
- collision avoidance
- dynamic environments
- gaussian process
- potential field
- optimization criterion
- dimensionality reduction
- generative model
- feature space
- obstacle avoidance
- lower dimensional
- path finding
- multi robot
- high dimensional
- optimal path
- degrees of freedom
- navigation tasks
- gaussian processes
- multiple robots
- parameter space
- evolutionary algorithm
- pose estimation
- optimal solution
- robotic arm