Practical path planning among movable obstacles

Practical path planning among movable obstacles
复制标题

可移动障碍物之间的实用路径规划

DOI：
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发表时间：
1991
期刊：
Proceedings. 1991 IEEE International Conference on Robotics and Automation
影响因子：
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通讯作者：
Y. Hwang
Y. Hwang
中科院分区：
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文献类型：
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作者：
Pang C. Chen;Y. Hwang

文献摘要

被引文献

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移动障碍物间的路径规划是一个亟待解决的实际问题。提出了一种高效的启发式算法，它使用一个生成和测试的范例：一个好的候选路径是由一个全局规划者假设，随后由一个本地规划者验证。在问题的形式化过程中，提出了一种通过接触来建模对象交互的技术。该算法已在各种示例中进行了测试，并且能够在17 MIPS Sun Sparc工作站上在10秒内生成解决方案。&lt;<ETX>&gt;
Path planning among movable obstacles is a practical problem that is in need of a solution. An efficient heuristic algorithm is presented that uses a generate-and-test paradigm: a good candidate path is hypothesized by a global planner and subsequently verified by a local planner. In the process of formalizing the problem, a technique for modeling object interactions through contact is presented. The algorithm has been tested on a variety of examples, and was able to generate solutions within 10 s on a 17-MIPS Sun Sparc workstation.<<ETX>>