ロボットナビゲーションにおける最小障害物移動計画の計算トレードオフ
Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation
移動ロボットの経路計画で、障害物を動かして経路を確保する問題の計算コストを削減する近似解法を検討した論文。
著者: Antony Thomas, Giulio Ferro, Fulvio Mastrogiovanni, Michela Robba
分類: cs.RO, cs.AI
原文アブストラクト
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to collision with obstacles. However this problem is computationally expensive and grows exponentially in the size of number of movable obstacles. This work looks into approximate solutions that are computationally less intensive and differ from the optimal solution by a factor of the optimal cost.
