TY - GEN
T1 - Planning and heuristics of assistant manipulator
AU - Babiarz, Artur
AU - Grzejszczak, Tomasz
AU - Legowski, Adrian
AU - Niezabitowski, Michal
AU - Orwat, Justyna
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/27
Y1 - 2016/9/27
N2 - The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.
AB - The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.
UR - https://www.scopus.com/pages/publications/84991712423
U2 - 10.1109/WCICA.2016.7578776
DO - 10.1109/WCICA.2016.7578776
M3 - Conference contribution
AN - SCOPUS:84991712423
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2824
EP - 2828
BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 12th World Congress on Intelligent Control and Automation, WCICA 2016
Y2 - 12 June 2016 through 15 June 2016
ER -