Minimum Displacement Motion Planning for Movable Obstacles
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.
PDF AbstractTasks
Datasets
Add Datasets
introduced or used in this paper
Results from the Paper
Submit
results from this paper
to get state-of-the-art GitHub badges and help the
community compare results to other papers.
Methods
No methods listed for this paper. Add
relevant methods here
