Contingency-Tolerant Robot Motion Planning and Control

TitleContingency-Tolerant Robot Motion Planning and Control
Publication TypeTechnical Report
AuthorsZhu, D., J. - C. Latombe, and W. Choi
NumberTR014
Date Published07/1989
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.

KeywordsArtificial Intelligence, Robot Motion Planning
Year of Publication1989
AttachmentSize
TR014.pdf905.21 KB

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