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VIZMO A Visualization, Authoring, and Educational Tool for Motion Planning

Motion Planning consists of finding feasible motions for movable objectsMany applications: robotics, computer graphics, scientific computing, ?InputData describing the robot's shape, articulations, constraintsData describing the shape and configuration of obstacles The robot's start and goal co

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VIZMO A Visualization, Authoring, and Educational Tool for Motion Planning

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    1. VIZMO++ A Visualization, Authoring, and Educational Tool for Motion Planning

    2. Algorithmic Motion Planning

    3. Algorithmic Motion Planning: Input 4 MultiBody Active 1 FreeBody 0 small_robot.g 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 tunnel.g 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 block.g 16.000000 13.000000 0.000000 0.000000 0.000000 0.000000 Connection 0 MultiBody Pasive 1 FixedBody 0 block.g -16.000000 13.000000 0.000000 0.000000 0.000000 0.000000 Connection 0

    4. Algorithmic Motion Planning: Output Roadmap Version Number 061300 #####PREAMBLESTART##### ../obprm -cd RAPID -f serial -bbox [0.0,4.0,0.0,4.0,-5.0,14.0] -bbox_scale 1 -lp straightline rotate_at_s -gNodes OBPRM nodes 400 collPair rT rT shells 1 freePair rT rT -cNodes closest 20 components 5 5 #####PREAMBLESTOP##### #####ENVFILESTART##### serial.env #####ENVFILESTOP##### #####LPSTART##### straightline rotate_at_s 0.5 a_star_distance 6 9 #####LPSTOP##### #####CDSTART##### 3 vclip RAPID PQP #####CDSTOP##### #####DMSTART##### 5 scaledEuclidean 0.9 euclidean minkowski 3 3 0.3333 manhattan com #####DMSTOP##### #####GRAPHSTART##### 89 78 89 0 1.95659 2.51507 -4.62012 0.763875 0.92729 0.307945 0.984243 0.0868963 0.304818 1 -1 -1 2 4 1 122 3 126 1 2.87237 0.864196 -4.5569 0.675137 0.382797 0.266389 0.581803 0.195711 0.873085 1 -1 -1 1 8 1 133 2 2.9388 3.5578 -4.30382 0.115513 0.0309897 0.993182 0.688779 0.297365 0.0481244 1 -1 -1 1 12 1 223 3 3.00148 0.25514 -4.59405 0.0368278 0.900472 0.244192 0.909281 0.937958 0.433103 1 -1 -1 1 0 1 126 4 3.00187 0.345139 -4.55145 0.374121 0.167178 0.795772 0.606054 0.804405 0.825447 1 -1 -1 2 7 1 32 0 1 122 5 0.940853 0.879135 -4.65633 0.334515 0.538076 0.575211 0.163215 0.918796 0.106324 1 -1 -1 2 9 1 230 14 1 260 6 1.4835 3.37686 -4.45324 0.161255 0.324899 0.0697619 0.261815 0.247689 0.382626 1 -1 -1 1 24 1 227 7 2.82442 0.927611 -4.5542 0.226048 0.822072 0.33608 0.898007 0.667324 0.289052 1 -1 -1 3 4 1 32 9 1 219 24 1 251 8 0.34911 1.50508 -4.16536 0.994804 0.295583 0.435455 0.627437 0.361991 0.973598 1 -1 -1 4 1 1 133 13 1 202 24 1 202 23 1 237 9 2.20836 0.059729 -0.339691 0.215222 0.247623 0.330884 0.157593 0.796295 0.400327 2 -1 -1 2 7 1 219 5 1 230 ... ... #####GRAPHSTOP#####

    5. Motivation Meaningful visualizations and interfaces to Illustrate Problems Solutions Help in the development and testing of motion planners Create and modify problem instances Try queries Teaching aid Illustrate how planners model motions in complex problems Illustrate the many abstractions involved in motion planning Allow to deal with interesting environments that otherwise may be impossible to access Illustrate differences and similarities between motion planners Interactive learning

    6. VIZMO++ The major components include: A user friendly interface C++, OpenGL and Qt 4 Visualization of the workspace/scene Visualization of results generated by motion planners Editor for the workspace/scene Editor for roadmaps

    7. VIZMO++ The major components include: A user friendly interface Visualization of the workspace/scene Wired/solid modes Change colors Visualization of results generated by motion planners Editor for the workspace/scene Editor for roadmaps

    8. VIZMO++ The major components include: A user friendly interface Visualization of the workspace/scene Visualization of results generated by motion planners path sweep volume path animation Editor for the workspace/scene Editor for roadmaps

    9. VIZMO++ The major components include: A user friendly interface Visualization of the workspace/scene Visualization of results generated by motion planners debugging compare different methods Editor for the workspace/scene Editor for roadmaps

    10. VIZMO++ The major components include: A user friendly interface Visualization of the workspace/scene Visualization of results generated by motion planners Editor for the workspace/scene select/translate/rotate/scale inset/delete objects check for collision Editor for roadmaps

    11. VIZMO++ The major components include: A user friendly interface Visualization of the workspace/scene Visualization of results generated by motion planners Editor for the workspace/scene Editor for roadmaps modify add delete

    12. Demo

    13. Conclusion VIZMO++ is a 3D tool for visualizing and editing motion planning Environments and Problem Instances Solutions Future work includes allow users to construct articulated robots support multiple robots support Constructive Solid Geometry (CSG) Configuration-space visualization (2D-3D projections) release the code

    14. VIZMO++ http://parasol.tamu.edu/groups/amatogroup/research/vizmo++/

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