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Collision-free Path Planning in the Latent Space through cGANs (2202.07203v1)
Published 15 Feb 2022 in cs.RO
Abstract: 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.