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arXiv · 2202.07203

Collision-free Path Planning in the Latent Space through cGANs

Tomoki Ando·Hiroki Mori·Ryota Torishima·Kuniyuki Takahashi·Shoichiro Yamaguchi·Daisuke Okanohara·Tetsuya Ogata
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Abstract

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.

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Tomoki Ando, Hiroki Mori, Ryota Torishima, Kuniyuki Takahashi, Shoichiro Yamaguchi, Daisuke Okanohara, Tetsuya Ogata. 2022-02-15. Collision-free Path Planning in the Latent Space through cGANs. https://arxiv.org/abs/2202.07203

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