A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation

2026-09-19

AI Summary

本文探讨了通过移动障碍物来规划机器人无碰撞路径的问题，提出了一种计算上较为简单的近似解法以平衡路径长度和障碍物移动量。

Abstract

In this paper, we investigate the Minimum Obstacle Displacement Planning problem from a robot motion planning perspective. The problem involves determining a feasible path to a goal location by displacing movable obstacles when no collision-free path initially exists. We show that this problem is computationally challenging and, in particular, NP-hard when obstacles are modeled as polygons in the plane. Besides an exact formulation of the minimum obstacle displacement problem generalizing other problems in the literature, and the associated optimal solution, this paper proposes an approximate solution that is less intensive from a computational standpoint, and differs from the optimal solution by a fraction of the optimal cost, being able to trade-off between path length and amount of obstacle displacements.

Problem

• Minimum Obstacle Displacement Planning
• Robot Navigation
• Motion Planning

Innovation

• Minimum Obstacle Displacement Planning
• approximate solution
• computational efficiency
• trade-off