可動障害物の最小変位を考慮した動作計画
Minimum Displacement Motion Planning for Movable Obstacles
障害物を最小限だけ動かしてロボットの経路を確保する問題を定式化し、ロボットと障害物の重なり量を指標に経路探索と障害物の反復的な移動を行う手法を提案した。
著者: Antony Thomas, Fulvio Mastrogiovanni
分類: cs.RO, cs.AI
原文アブストラクト
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection and use this to penalize robot-obstacle overlaps. Employing the actual robot dynamics, the planner first finds a path through the obstacles that minimizes the robot-obstacle intersections. The metric is then used to iteratively displace the obstacles to achieve a feasible path. Several examples are provided that successfully demonstrates the proposed problem.
