Rearrangement of multiple movable objects - integration of global and local planning methodology
Rearrangement of multiple movable objects - integration of global and local planning methodology
复制标题
多个可移动物体的重新排列——全局和局部规划方法的整合
DOI：
10.1109/robot.2004.1308111
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
J. Ota
中科院分区：
文献类型：
--
作者：
J. Ota
提出了一种移动的机器人对多个可移动物体的重排规划方法。由于机器人搬运操作，几个物体将从初始配置移动到单独的目的地。本文提出了一种由全局运动规划器和局部运动规划器组成的运动规划算法。全局规划器利用可移动物体的优先级图，而局部规划器需要实时搜索方法。分别对3个、4个和8个可移动目标的重排进行了仿真，仿真结果表明了该算法的有效性。
A rearrangement planning methodology of multiple movable objects by a mobile robot is proposed. Several objects are to be moved from an initial configuration to separate destinations as a result of a robot handling operation. This report proposes a planning algorithm consisting of a global motion planner and a local motion planner. The global planner utilizes a priority graph of a movable object, while the local planner requires a real-time search methodology. The simulation results of rearrangements with three, four, and eight movable objects demonstrate the effectiveness of the proposed algorithm.