Hierarchical planning architectures for mobile manipulation tasks in indoor environments
作者： Ross A Knepper , Siddhartha S Srinivasa , Matthew T Mason
DOI: 10.1109/ROBOT.2010.5509669
关键词:
摘要: This paper describes a hierarchical planner deployed on mobile manipulation system. The main idea is two-level hierarchy combining global which provides rough guidance to local planner. We place premium fast response, so the achieves speed by using very approximation of robot kinematics, and begins execution next action even without considering subsequent actions in detail, instead relying system exhibits few planning delays, yet surprisingly effective at collision free motions. HERB [20], Segway platform, WAM arm, Barrett hand. navigation components have been tested real robot, task simultaneously approaching grasping bottle countertop was demonstrated simulation.
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