Planning Strategy for Collision Free Movement of Multiple Polyhedral Objects

摘要

Simultaneous planning of multiple moving objects in 3D-space requires efficient object representations, fast distance computations and separation of global and local planning strategies. An approach for a flexible planning strategy is presented in connection to a prototype system that has been developed. Objects are represented by convex polyhedra of arbitrary complexity. Objects move according to configuration parameters that define the kinematic transformations of their coordinate frames. The separation between local and global planning is such that the local planning strategy tries to approach a globally defined goal configuration by small steps of configuration changes. At each step a closest distance analysis is performed leading to potential contact points. The movement of objects is constrained by a repellent effect of these contact points. The local planning becomes a constrained optimization problem for which (non)linear programming techniques are employed. A modelling language has been designed by which the geometric configuration and the kinematic properties of general world models can be specified and supplied to the prototype planning environment.