Planning handling operations in changing industrial plants

摘要

This paper addresses the problem of planning collision-free motions for a fleet of mobile robots moving in a cluttered and changing workspace. We focus on the problem of planning handling operations in an industrial plant: find a collision-freetrajectory for a set of mobile robots for handling a group of movable objects in a cluttered industrial plant. The motion planner we describe copes with constraints due to changing of the workspace by decomposing the planning problem into 2 stages: (1)building a single roadmap by pre-processing the C-space of the moving systems, and (2) planning coordinated collision-free paths for these systems including manipulation of the roadmap to guarantee the incorporation of the workspace changing. The plannerhas been implemented and demonstrated on 2D models of industrial plants.