Minimum Displacement Motion Planning for Movable Obstacles

• URL: http://arxiv.org/abs/2204.12740v1
• Date: Wed, 27 Apr 2022 07:14:13 GMT
• Title: Minimum Displacement Motion Planning for Movable Obstacles
• Abstract summary: We define a metric for robot-obstacle intersection that measures the extent of the intersection. 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.
• Score: 1.7513645771137178
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

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