Practical pushing planning for rearrangement tasks
Practical pushing planning for rearrangement tasks
复制标题
重排任务的实用推送规划
DOI：
10.1109/robot.1996.503591
复制
发表时间：
1996
期刊：
影响因子：
--
通讯作者：
E. Rivlin
中科院分区：
文献类型：
--
作者：
Ohad Ben;E. Rivlin
通过推动来重新排列对象是一项基本的操作任务。作者（1995）提出了一种分辨率完整的算法，该算法为重新排列任务规划最佳的推动操作，但在高时间和空间复杂度下运行。在本文中，作者解决了同类问题的实际规划问题。作者没有使用经典的启发式方法，而是提出了一种替代方法。作者提出了将推动问题领域分为几个类别的层次分类，每个类别都以能够解决该问题的计划的属性为特征。这种分类允许作者单独考虑每个类别，分析和利用每个类别的属性，并提出单独的规划方法。给出了两个已定义类的算法。这两种算法都在模拟环境中进行了测试，其中有多达 32 个可移动物体和 66 个组合自由度。这里介绍了其中一些模拟。
Rearrangement of objects by pushing is a basic manipulation task. The authors (1995) presented a resolution-complete algorithm that plans optimal pushing manipulations for rearrangement tasks but operates in high time and space complexity. In this paper the authors address the issue of practical planning for the same kind of problems. Rather than using a classical heuristic method, the authors propose an alternative approach. The authors present a hierarchical classification of the pushing problems domain into several classes, each characterized by properties of the plans that can solve it. Such a classification allows the authors to consider each class individually, analyze and exploit properties of each class, and suggest individual planning methods. Algorithms for two of the defined classes are presented. Both algorithms were tested in a simulated environment, with up to 32 movable objects and 66 combined DOF. Some of these simulations are presented here.