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.
@article{arxiv.2202.07203,
title = {Collision-free Path Planning in the Latent Space through cGANs},
author = {Tomoki Ando and Hiroki Mori and Ryota Torishima and Kuniyuki Takahashi and Shoichiro Yamaguchi and Daisuke Okanohara and Tetsuya Ogata},
journal= {arXiv preprint arXiv:2202.07203},
year = {2022}
}