Layered task planning for mobile manipulators

被引：1
|
作者：
Djezairi, Salim [1 ]
Razika, Boushaki Zamoum [1 ]
Akli, Isma [2 ]
Bouzouia, Brahim [2 ]
机构：
[1] Univ Mhamed Bouguerra Boumerdes, Inst Elect & Elect Engn, Signals & Syst Lab, Ave L Independance, Boumerdes 35000, Algeria
[2] Ctr Dev Technol Avances, Baba Hassen, Algeria
来源：
COMPUTERS & ELECTRICAL ENGINEERING | 2019年 / 79卷
关键词：
Task planning; Mobile manipulator; Layered task graph; Planning with shortcuts; BFS;
D O I：
10.1016/j.compeleceng.2019.106464
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Task planning for mobile manipulators is a challenging problem in robotics. Mobile manipulators can perform a wide range of tasks in complex environments. They must process the symbolic knowledge in order to find a sequence of actions that achieves the specified goals. This paper proposes a hybrid approach named Planning with Shortcuts. It uses a data structure called Layered Task Graph (LTG) which groups primitive actions, robot skills and task patterns in a strictly hierarchical manner. It then uses the LTG to create shortcuts in the state space in order to accelerate the search. A task planner is called to find a set of actions that achieves the goal task. The result of the search is a sequence of high level actions and primitive actions. The high level actions are then decomposed using the task decomposition approach. (C) 2019 Elsevier Ltd. All rights reserved.
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页数：9
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