The Implementation of a Robotic Replanning Framework

摘要

In this study, the implementation of a previously proposed robotic replanning framework is presented. The proposed framework integrates a high level replanning paradigm into a three layer robotic architecture. There has been a great deal of studies on managing unexpected events at lower two levels of three layer architectures but doing replanning at highest level still needs investigation. Supporting replanning with real-time vision feedback from working environment and integrating a learning mechanism as a basis increases the success ratio.