TR014: Contingency-Tolerant Robot Motion Planning and Control

<a href="https://embed.stanford.edu/iframe/?url=https%3A%2F%2Fpurl.stanford.edu%2Fwq601rt9692" class="su-underline">Show Content</a>

Abstract/Contents

Abstract: We address the problem of robot motion planning and control in a partially known environment. Examples of this type of environment include shop-floors, office buildings, construction sites, and clean rooms. In such environments, the shapes and the locations of the largest objects are known in advance. But there are other objects whose locations are changing so often that the robot cannot realistically keep track of them. In order for a robot to operate successfully in this type of environment, it must be tolerant to contingencies - i.e., it must be able to efficiently deal with unexpected obstacles while executing planned motions. A contingency-tolerant motion planning and control system is presented in this paper. It combines a "lesser-commitment" planner with an "intelligent" controller. The planner produces a set of paths, called a "channel", rather than a single path, in order to let the controller have more freedom of choice. The controller exploits this freedom by applying a potential field method. We have implemented this system and . experimented with it, using both a computer simulated mobile robot and a real one.

Type of resource	text
Date created	July 1989

Subject	CIFE
Subject	Center for Integrated Facility Engineering
Subject	Stanford University
Subject	Artificial Intelligence
Subject	Robot Motion Planning
Genre	Technical report

Related item	Title TR018: New Heuristic Algorithms for Efficient Hierarchical Path Planning
Location	https://purl.stanford.edu/wq601rt9692

Use and reproduction: User agrees that, where applicable, content will not be used to identify or to otherwise infringe the privacy or confidentiality rights of individuals. Content distributed via the Stanford Digital Repository may be subject to additional license and use restrictions applied by the depositor.

Preferred Citation: Choi, Wonyun and Zhu, David and Latombe, Jean-Claude. (1989). TR014: Contingency-Tolerant Robot Motion Planning and Control. Stanford Digital Repository. Available at: http://purl.stanford.edu/wq601rt9692

CIFE Publications

Loading usage metrics...