Collision-free Path Planning in the Latent Space through cGANs
Waseda Univ.（早稻田大学）；AIST（日本产业技术综合研究所）；Univ. of Cergy-Pontoise（塞吉-蓬图瓦兹大学）；Preferred Networks（优选网络公司）
英文摘要：
We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated two-link robot arm.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
