Parallelizing planning and action of a mobile robot based on planning-action consistency
Parallelizing planning and action of a mobile robot based on planning-action consistency
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基于规划-动作一致性的移动机器人规划与动作并行化
DOI：
10.1109/robot.2001.932863
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
Y. Shirai
中科院分区：
文献类型：
--
作者：
J. Miura;Y. Shirai
提出了一种调度移动机器人的规划和动作并行执行的方法。该方法考虑了以下两种类型的并行性：（1）边规划边行动，如果可以使用部分规划结果来确定可行的行动，则可以在规划过程仍在进行时执行这些行动； (2)边行动边计划，如果当前行动的结果是(至少部分)可预测的，则可以在当前行动完成之前开始对下一个行动的计划。所提出的方法使用计划-行动一致性的概念来指导调度。该方法已成功应用于传感器不确定性下的移动机器人导航问题。
Proposes a method to schedule parallel execution of planning and action of a mobile robot. The method considers the following two types of parallelism: (1) acting while planning, if a partial planning result can be used to determine feasible actions, such actions can be executed while the planning process is still going; and (2) planning while acting, if the result of the current action is (at least partially) predictable, the planning for the next action can start in advance of the completion of the current action. The proposed method uses the notion of planning-action consistency to guide the scheduling. The method has been successfully applied to a mobile robot navigation problem under sensor uncertainty.