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Results for “Motion and Path Planning”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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22 records · Page 2
All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Design and Closed‐Loop Motion Planning of an Untethered Swimming Soft Robot Using 2D Discrete Elastic Rods Simulations

Despite tremendous progress in the development of untethered soft robots in recent years, existing systems lack the mobility, model‐based control, and motion planning capabilities of their piecewise rigid counterparts. As in conventional robotic systems, the development of versatile locomotion of soft robots is aided by the integration of hardware design and control with modeling tools that account for their unique mechanics and environmental interactions. Here, a framework for physics‐based modeling, motion planning, and control of a fully untethered swimming soft robot is introduced. This framework enables offline co‐design in the simulation of robot parameters and gaits to produce effective open‐loop behaviors and enables closed‐loop planning over motion primitives for feedback control of a frog‐inspired soft robot testbed. This pipeline uses a discrete elastic rods (DERs) physics engine that discretizes the soft robot as many stretchable and bendable rods. On hardware, an untethered aquatic soft robot that performs frog‐like rowing behaviors is engineered. Hardware validation verifies that the simulation has sufficient accuracy to find the best candidates for sets of parameters offline. The simulator is then used to generate a trajectory library of the robot's motion in simulation that is used in real‐time closed‐loop path following experiments on hardware.

Huang, Xiaonan↗
DOE OSTI2021

A GPU-based Approach for Path Planning Optimization via Travel Length Reduction

Typically, before constructing an object with an additive manufacturing system, the 3D object must be sent through a process called slicing. Slicing converts a 3D object commonly in the form of an STL file into a set of layers by horizontally intersecting a plane with the object at various heights. At each height, called a layer, multiple 2D polygons can be generated. Each polygon represents a boundary for solid geometry and is called an island. Each island is then comprised of multiple path types in an attempt to optimally fill the polygon. To move between each island and each islands’ paths, travels are inserted. Travels are simply motion by the system to move from one area of construction to another. Travels do not contribute to the construction of the object, and so, are considered wasted motion. In large-scale additive manufacturing, objects can be quite large and the distance between islands can be large as well. As a result, these travels can waste a significant amount of time. Ideally, travels would be as short as possible, however, computing global minimal travel paths is computationally expensive. To combat this problem, researchers at Oak Ridge National Lab developed a GPU-based approach to travel insertion based on a unique factoradic representation. This representation was then utilized by the GPU to solve the Traveling Salesman Problem (TSP). This algorithm was able to compute global minimal travel paths quickly resulting in faster object construction. A general investigation was also carried out to determine when a GPU vs CPU implementation would be beneficial.

Borish, Michael↗
DOE OSTI2022

Utilizing Reinforcement Learning to Continuously Improve a Primitive-Based Motion Planner

We report in this paper describes how the performance of motion primitive-based planning algorithms can be improved using reinforcement learning. Specifically, we describe and evaluate a framework that autonomously improves the performance of a primitive-based motion planner. The improvement process consists of three phases: exploration, extraction, and reward updates. This process can be iterated continuously to provide successive improvement. The exploration step generates new trajectories, and the extraction step identifies new primitives from these trajectories. These primitives are then used to update rewards for continued exploration. This framework required novel shaping rewards, development of a primitive extraction algorithm, and modification of the Hybrid A* algorithm. The framework is tested on a navigation task using a nonlinear F-16 model. The framework autonomously added 91 motion primitives to the primitive library and reduced average path cost by 21.6 seconds, or 35.75% of the original cost. The learned primitives are applied to an obstacle field navigation task, which was not used in training, and reduced path cost by 16.3 seconds, or 24.1%. Additionally, two heuristics for the modified Hybrid A* algorithm are designed to improve effective branching factor.

42 ENGINEERING↗
DOE OSTI2025

Dynamic Charging Rendezvous and Motion Planning for a Multi-AGV Team Including a Mobile Charging Host

Teams of automated battery-powered electric vehicles have the potential to execute complex mission tasks in off-road environments for agriculture, military, and other applications. Limited onboard energy reserves hinder their adoption in large-scale resource-constrained environments, where recharging is a necessity. It may be infeasible to install a network of static charging stations in off-road environments. For this reason, dedicated mobile host vehicles with charging capabilities are proposed as a means to increase range and capabilities of the multivehicle team. Here, in this study, we consider an ad hoc planning framework, where results from a high-confidence trajectory planner are leveraged to plan charging rendezvous between a host and other worker vehicles in a receding horizon fashion to provide high confidence that energy reserves will not be prematurely exhausted. The core problem is posed so as to minimize the impact of recharging on the mission in terms of task delays, overall energy utilization, and costs of fast charging. Through extensive Monte Carlo simulations of an off-road mission, we show a decrease in task delays without substantial increases in energy needs by updating the charging rendezvous plan during the mission. However, if updates are made too often, model mismatch may cause unnecessary cycling and mission failure.

Energy constraints↗