Application in Planning
This chapter demonstrates the use of the capability map in planning tasks. Using two examples, it is demonstrated how the capability map can be used to restrict the search space. The algorithms thus address the gap between task planning and path planning that is indicated in Figure 6.1 by the red rectangle. In the first application covered in this chapter a robot is placed to perform a given trajectory. Its suitability for the task is evaluated. In the second application the capability map is used to obtain good parameters for a path planner and bias the path planning process.
KeywordsPath Planning Humanoid Robot Inverse Kinematic Mobile Manipulator Path Planner
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