3D-CNN Based Heuristic Guided Task-Space Planner for Faster Motion Planning
Ryo Terasawa,Yuka Ariki,Takuya Narihira,Toshimitsu Tsuboi,Kenichiro Nagasaka,Ryo Terasawa,Yuka Ariki,Takuya Narihira,Toshimitsu Tsuboi,Kenichiro Nagasaka
Motion planning is important in a wide variety of applications such as robotic manipulation. However, it is still challenging to reliably find a collision-free path within a reasonable time. To address the issue, this paper proposes a novel framework which combines a sampling-based planner and deep learning for faster motion planning, focusing on heuristics. The proposed method extends Task-Space ...
