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A Roadmap-based Algorithm for Planning Object Handling in Changing Industrial Plants

Moez Cherif 1 Marc Vidal 1 Christian Laugier 1
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This paper addresses the problem of planning collision-free motions for a fleet of mobile robots moving in a cluttered and changing workspace. We focus on the problem of planning handling operations in an industrial plant: find a collision-free trajectory for a set of mobile robots for handling a group of movable objects in a cluttered industrial plant. The motion planner we describe copes with constraints due to changing of the workspace by decomposing the planning problem into 2 stages: (1) building a single roadmap by pre-processing the C-spaces of the moving systems, and (2) planning coordinated collision-free paths for these systems including manipulation of the roadmap to guarantee the incorporation of the workspace changing. The planner has been implemented and demonstrated on 2D models of industrial plants.
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Submitted on : Wednesday, May 24, 2006 - 11:41:32 AM
Last modification on : Friday, February 4, 2022 - 3:23:19 AM
Long-term archiving on: : Sunday, April 4, 2010 - 11:32:29 PM


  • HAL Id : inria-00073047, version 1



Moez Cherif, Marc Vidal, Christian Laugier. A Roadmap-based Algorithm for Planning Object Handling in Changing Industrial Plants. [Research Report] RR-3629, INRIA. 1999. ⟨inria-00073047⟩



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