Heuristic Motion Planning with Movable Obstacles
Mahmoud Elgamal
Department of Scientific Computing, Faculty of Computer and Information Sciences,
Ain Shams University, Cairo,
Email: mahmoud-40@cairomail.com
 

Abstrac:
In this paper, a heuristic approach to geometric path planning with movable obstacles are presented. Treating movable obstacles as mobile robots leads to path planning problems with many degrees of freedom which are intractable. Our method avoids this computational complexity by decoupling the whole motion planning problem into a set of tractable problems, which are solved using known path planning algorithms. The individually computed solutions are then coordinated to a. path plan. This method results in a powerful and applicable method for path planning with movable obstacles, which can be applied using a wide variety of known motion planning algorithms.
Keywords: Movable Objects, Path Planning, Collision Free Path, Clearing Paths.