Combining planning and motion planning
Combining planning and motion planning
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结合规划和运动规划
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Eyal Amir
中科院分区：
文献类型：
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作者：
Jaesik Choi;Eyal Amir
机器人操作对于真实的物理世界应用是重要的。机器人的通用操作（例如，送菜、用钥匙开门等）要求很高这是困难的，因为（1）对象在位置和方向上受到约束，（2）许多非空间约束相互作用（或干扰），以及（3）机器人可能具有多自由度（DOF）。在本文中，我们解决了问题的通用机器人操作使用一种新的组合规划和运动规划。我们的方法将机器人的运动与其他（非物理或外部的机器人）的行动，以实现一个目标，同时操纵对象。它与以前的分层方法的不同之处在于：（a）它考虑了配置空间（C-空间）中的运动学约束以及对对象操作的约束;（B）它从基于C-空间的运动规划算法自动生成高级别（逻辑）动作;以及（c）它将规划问题分解为小段，从而降低了规划的复杂性。
Robotic manipulation is important for real, physical world applications. General Purpose manipulation with a robot (eg. delivering dishes, opening doors with a key, etc.) is demanding. It is hard because (1) objects are constrained in position and orientation, (2) many non-spatial constraints interact (or interfere) with each other, and (3) robots may have multi-degree of freedoms (DOF). In this paper we solve the problem of general purpose robotic manipulation using a novel combination of planning and motion planning. Our approach integrates motions of a robot with other (non-physical or external-to-robot) actions to achieve a goal while manipulating objects. It differs from previous, hierarchical approaches in that (a) it considers kinematic constraints in configuration space (C-space) together with constraints over object manipulations; (b) it automatically generates high-level (logical) actions from a C-space based motion planning algorithm; and (c) it decomposes a planning problem into small segments, thus reducing the complexity of planning.