在类似sokoban的场景中，用移动机器人推箱子

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers Pub Date : 2011-04-11 DOI:10.1109/CONIELECOMP.2011.5749352

Uriel Haile Hernández Belmonte, V. Ayala-Ramírez, R. E. Sánchez-Yáñez

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引用次数: 0

摘要

这项工作提出了一个系统来实现解决一个推框问题的灵感来自著名的Sokoban游戏使用移动机器人。我们在本文中提出了一种策略，以确定移动机器人必须执行的一系列动作，以便在一个场景中仅通过推动它们来容纳许多盒子。通过分解动作序列，将该解与移动机器人的实际运动原语联系起来。我们将讨论如何搜索解决方案以及在搜索过程中出现的几个问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Pushing boxes with a mobile robot in Sokoban-like scenarios

This work presents a system to implement the solution of a box-pushing problem inspired in the well-known Sokoban game using a mobile robot. We present in this paper the strategy to determine a sequence of actions that have to be performed by the mobile robot to accommodate a number of boxes in a scenario only by pushing them. We link this solution to actual motion primitives of the mobile robot by decomposing the action sequence. We discuss how the solution is searched and several issues that arise during the search procedure.

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来源期刊

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers

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