Real-Time Motion Planning for Complex Robotic Tasks

机器人正在走出工厂车间，进入仓库、私人住宅、商业工作场所、医院和户外。机器人技术的快速发展推动了这种转变。我们正在接近一个可以以低成本购买地面车辆和空中无人机的时代。此外，当机器人环境事先已知时，有能力的算法可以规划运动来执行复杂的任务。然而，现实世界的环境以不可预测的方式发展。人类可能在环境中移动，障碍物的位置可能是未知的，机器人甚至可能不确定它们的确切位置。这样的环境构成了重大挑战。机器人不能再提前完全规划自己的动作，它们必须对环境变化做出安全、实时的反应。

Robots are moving beyond the factory floor and into warehouses, private homes, commercial workplaces, hospitals, and the outdoors. This transition is being driven by rapid advances in robot technology. We are reaching a point where ground vehicles and aerial drones can be purchased at low cost. In addition, when the robot environment is known beforehand, capable algorithms exist for planning motion to perform complex tasks. However, real-world environments evolve in unpredictable ways. Humans may be moving in the environment, locations of obstacles may be unknown, and robots may not even be certain of their exact location. Such environments pose significant challenges. Robots can no longer fully plan their motion in advance, and they must react to environmental changes safely and in real-time.