[ompl-users] Workspace Planning

[Adam F. <afi...@cs...>]

Hi all,

I am trying to do optimal workspace planning with OMPL for a robotic manipulator, but I haven’t found many resources on how to do this. FWIW I am using the direct Python bindings for OMPL due to my system constraints (I can’t use ROS for my task).

The simplest way to do it seems to be to use IK to get a target configuration and then to use something like BIT* to plan. The issue with this, however, is that the IK solution may not itself be optimal. That is, the optimal path to one IK solution may be shorter than the optimal path to another. And, finding the ideal IK solution seems to be a planning problem itself.

I’ve been looking into Constrained Planning, but the workspace is not exactly a zero-volume constraint manifold, so I’m not sure how to fit this into the framework.

I imagine this is a problem that’s been explored extensively, but I’m not sure how to proceed. Does anyone have suggestions?

Thanks a lot,
Adam Fishman
He/Him
fishbotics.com <http://fishbotics.com/>