Title :
Practical path planning among movable obstacles
Author :
Chen, Pang C. ; Hwang, Yong K.
Author_Institution :
Sandia Nat. Lab., Albuquerque, NM, USA
Abstract :
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
Keywords :
mobile robots; optimisation; planning (artificial intelligence); Sun Sparc workstation; global planner; heuristic algorithm; local planner; mobile robots; modeling; movable obstacles; object interactions; path planning; Contracts; Heuristic algorithms; Laboratories; Mobile robots; Partitioning algorithms; Path planning; Robot sensing systems; Sun; Testing; Workstations;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131618
