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.
翻译:本文提出一个最小的迁移运动规划问题,即障碍会以最低数量移位以寻找可行的路径。 我们定义了机器人-障碍交叉点的衡量标准,该标准测量交叉点的范围,并用来惩罚机器人-障碍的重叠。 使用实际的机器人动态,规划者首先找到一条穿过障碍的途径,最大限度地减少机器人-障碍交叉点。 然后,该标准被用来迭接障碍,以找到可行的路径。 提供了成功证明拟议问题的几个例子。