用非线性分层策略生成机器人动作规划

ROBOT ACTION PLAN GENERATION BY USING NONLINEAR HIERARCHICAL STRATEGY

分层策略可以求解复杂的机器人规划生成问题.本文提出一种崭新的分层规划算法,该算法将原问题分解为若干子问题,然后按各层的动作细化规则,由顶而底.直至求出机器人的本原动作序列.在每个层次上,运用非线性技术,使之对子问题的求解可交叉进行,从而消除了目标相互影响问题;在规划动作的过程中,建立了前后指针和评价函数,并提出了解决分层规划中动作的冗余和矛盾的方法,大大地提高了解题效率.该算法已应用于 NARP机器人规划生成系统,本文简介了用 Common Lisp 语言编程的特点.系统在 Sun 机上实现.

Hierarchical strategy can be used in solving the complicated robot plan-generating problem.This paperproposes a new hierarchical planning algorithm.It splits the primitive Problem into several subproblems,then solves the action sequences from the top to the bottom according to the action accuratization rule till theprimitive one is finally solved.As the application of nonlinear technique in different strategy makes it feasibleto solve the subproblems alternatively,it settles the interacting goal problem.With the formulation of an e-valuation function and forward & backward pointers in the process of plan generation,it also finds the way toeliminate the redundance and contradictions in hierarchical planning,and therefore greatly improved the effi-ciency of problem solving.The algorithm has been applied to NARP robot plan-generating system,which us-es Common Lisp Language in programming and has been implemented on SUN computer.