This paper focuses on planning strategies for object-interception, within the context of an Active Prediction Planning and Execution (APPE) strategy. Herein, the goal is to bring the robot end-effector to a pre-grasping location, so that a fine-motion grasping-strategy can be used. This objective is optimized within the APPE strategy by solving two problems: (i) selection of an optimal rendezvous-point; and, (ii) planning of a time-optimal robot-trajectory to this rendezvous-point. Problem (i), addressed herein, is formulated as a minimization of the robot-target interception-time. An adaptive planning algorithm is proposed, where only the exact amount of computation time required is used to find the optimal rendezvous-point. Within this strategy, uncertainties must be expected and tolerated. The level of uncertainty provides a convergence constraint for the planning algorithm. The operation of this planning strategy is demonstrated via computer simulation. Experimental work using this approach is also cited.
|Number of pages||7|
|Publication status||Published - 1 Jan 1995|
|Event||IEEE International Symposium on Assembly and Task Planning 1995 - Pittsburgh, United States of America|
Duration: 10 Aug 1995 → 11 Aug 1995
|Conference||IEEE International Symposium on Assembly and Task Planning 1995|
|Country||United States of America|
|Period||10/08/95 → 11/08/95|