论文标题
可移动障碍的最小位移运动计划
Minimum Displacement Motion Planning for Movable Obstacles
论文作者
论文摘要
本文提出了一个最小的位移运动计划问题，其中障碍物的流离失所最低，以找到可行的路径。我们为机器人座相交的指标定义了测量交叉口范围的指标，并使用它来惩罚机器人座重叠。使用实际的机器人动力学，规划师首先找到了通过障碍物的路径，从而最大程度地减少了机器人的交叉点。然后，该度量被用来迭代地置换障碍物以实现可行的路径。提供了一些成功证明拟议问题的例子。
This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection and use this to penalize robot-obstacle overlaps. Employing the actual robot dynamics, the planner first finds a path through the obstacles that minimizes the robot-obstacle intersections. The metric is then used to iteratively displace the obstacles to achieve a feasible path. Several examples are provided that successfully demonstrates the proposed problem.
