Motion Planning with Satisfiability Modulo Theories

被引：0

作者：

Hung, William N. N. ^{[1
]}

Song, Xiaoyu ^{[2
]}

Tan, Jindong ^{[3
]}

Li, Xiaojuan ^{[4
]}

Zhang, Jie ^{[5
]}

Wang, Rui ^{[4
]}

Gao, Peng ^{[2
]}

机构：

[1] Synopsys Inc, Mountain View, CA 94043 USA

[2] Portland State Univ, Portland, OR 97207 USA

[3] Univ Tennessee, Knoxville, TN USA

[4] Capital Normal Univ, Beijing Engn Res Ctr High Reliable Embedded Syst, Coll Informat Engn, Beijing 100048, Peoples R China

[5] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100029, Peoples R China

来源：

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2014年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Motion planning is an important problem with many applications in robotics. In this paper, we focus on motion planning with rectangular obstacles parallel to the X, Y or Z axis. We formulate motion planning using Satisfiability Modulo Theories (SMT) and use SMT solvers to find a feasible path from the source to the goal. Our formulation decompose the robotic path into N path segments where the two ends of each path segment can be constrained using difference logic. Our SMT approach will find a solution if and only if a feasible path exists for the given constraints. We present extensive experimental results to demonstrate the scalability of our approach.

引用

页码：113 / 118

页数：6

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