A path planning method for Dynamic Object Closure by using Random Caging Formation Testing
A path planning method for Dynamic Object Closure by using Random Caging Formation Testing
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DOI：
10.1109/iros.2009.5353999
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
Z. Wang;Hidenori Matsumoto;Y. Hirata;K. Kosuge
中科院分区：
文献类型：
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作者：
Z. Wang;Hidenori Matsumoto;Y. Hirata;K. Kosuge
本文讨论了使用对象闭合概念的多个协作移动机器人的对象操纵问题。是指物体被困住的情况，使得物体在运输过程中从给定位置到任何超出指定阈值距离的位置都没有可行的路径。我们提出了动态对象闭合的概念来实现对象笼养任务，即机器人团队能够在预定义的时间间隔后笼养移动的对象。本文提出了一种规划笼养路径并使用随机笼养形成路径确定算法（RCFP）的方法来实现动态目标闭合。给出了一些规划结果来说明所提出算法的有效性。
Object manipulation problem by multiple cooperating mobile robots using the concept of Object Closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of Dynamic Object Closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using Random Caging Formation Path Determination algorithm (RCFP) is proposed for achieving Dynamic Object Closure. Some planning results are presented for illustrating the validity of the proposed algorithm.