Generating robot action plans by means of an heuristic search
B Frommherz, G Werling - Proceedings., IEEE International …, 1990 - ieeexplore.ieee.org
B Frommherz, G Werling
Proceedings., IEEE International Conference on Robotics and Automation, 1990•ieeexplore.ieee.orgA planning concept is proposed which meets the requirements of flexibility and simplicity of
the resulting plan structures and efficiency of replanning. The concept is based on a
heuristic search process (branch-and-bound) by which a plan generation tree containing (as
nodes) the most promising solution graphs is partly developed. This is achieved by a
heuristic evaluation function which estimates the quality of the intermediate plans during the
plan synthesis phase. The concept is shown for the area of automatic assembly using a …
the resulting plan structures and efficiency of replanning. The concept is based on a
heuristic search process (branch-and-bound) by which a plan generation tree containing (as
nodes) the most promising solution graphs is partly developed. This is achieved by a
heuristic evaluation function which estimates the quality of the intermediate plans during the
plan synthesis phase. The concept is shown for the area of automatic assembly using a …
A planning concept is proposed which meets the requirements of flexibility and simplicity of the resulting plan structures and efficiency of replanning. The concept is based on a heuristic search process (branch-and-bound) by which a plan generation tree containing (as nodes) the most promising solution graphs is partly developed. This is achieved by a heuristic evaluation function which estimates the quality of the intermediate plans during the plan synthesis phase. The concept is shown for the area of automatic assembly using a small assembly task as an example. A short description of a robot planning system which is based on the concept is included.< >
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