Practical path planning among movable obstacles

Conference · Wed Sep 05 00:00:00 EDT 1990

OSTI ID:6023504

Chen, Pang C; Hwang, Yong K

Path planning among movable obstacles is a practical problem that is in need of a solution. In this paper an efficient heuristic algorithm 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, we also present a technique for modeling object interactions through contact. Our algorithm has been tested on a variety of examples, and was able to generate solutions within 10 seconds. 5 figs., 27 refs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6023504
• Report Number(s): SAND-90-2383C; CONF-910451-7; ON: DE91000034
• Resource Relation: Conference: IEEE robotics and automation conference, Sacramento, CA (USA), 7-12 Apr 1991
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
EXPERT SYSTEMS
ALGORITHMS
ROBOTS
NAVIGATION
ARTIFICIAL INTELLIGENCE
AUTOMATION
COMPUTER ARCHITECTURE
CONTROL SYSTEMS
MANIPULATORS
REMOTE HANDLING
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
REMOTE HANDLING EQUIPMENT
990200* - Mathematics & Computers