HDPP: High-Dimensional Dynamic Path Planning Based on Multi-Scale Positioning and Waypoint Refinement

Abstract

Algorithms such as RRT (Rapidly exploring random tree), A* and their variants have been widely used in the field of robot path planning. A lot of work has shown that these detectors are unable to carry out effective and stable results for moving objects in high-dimensional space, which generate a large number of multi-dimensional corner points. Although some filtering mechanisms (such as splines and valuation functions) reduce the calculation scale, the chance of collision is increased, which is fatal to robots. In order to generate fewer but more effective and stable feature points, we propose a novel multi-scale positioning method to plan the motion of the high-dimensional target. First, a multi-scale feature extraction and refinement scheme for waypoint navigation and positioning is proposed to find the corner points that are more important to the planning, and gradually eliminate the unnecessary redundant points. Then, in order to obtain a stable planning effect, we balance the gradient of corner point classification detection to avoid over-optimizing some of them during the training phase. In addition, considering the maintenance cost of the robot in actual operation, we pay attention to the mechanism of anti-collision in the model design. Our approach can achieve a complete obstacle avoidance rate for high-dimensional space simulation and physical manipulators, and also work well in low-dimensional space for path planning. The experimental results demonstrate the superiority of our approach through a comparison with state-of-the-art models.

Keywords

• path planning
• high-dimensional
• machine learning
• multi-scale positioning
• waypoint refinement
• ROS