A Technique For Planning In A Blocks World Environment

Vincent Tat; Robert McLaren

doi:10.1117/12.940657

11 May 1987 A Technique For Planning In A Blocks World Environment

Vincent Tat, Robert McLaren

Proceedings Volume 0786, Applications of Artificial Intelligence V; (1987) https://doi.org/10.1117/12.940657
Event: 1987 Technical Symposium Southeast on Optics, Electro-Optics, and Sensors, 1987, Orlando, FL, United States

Abstract

A method for moving blocks, referred to as "blocks world", is described in a book on LISP by Winston and Horn. In simplifying that implementation, the basic method avoids using a physical coordinate system for the blocks and the gripper. This "trade-off" leads to the question as to how a block is moved from one location to another. This paper presents a method to augment the basic scheme by proposing a three-dimensional coordinate system. The proposed method can generate a path for moving a block from one location to another without encountering any obstacles. This path is described by the three-dimensional coordinates. With an appropriate graphics program, one can project the coordinates to effect a dynamic graphics display of a block along the path. In the context of a "real world" robotics system, the gripper is moving a block autonomously after being given the initial state of the environment, represented possibly by the output of an image process and a description of the object to be moved. Appropriate computer programs are included to illustrate how the method is implemented.

Citation Download Citation

Vincent Tat and Robert McLaren "A Technique For Planning In A Blocks World Environment", Proc. SPIE 0786, Applications of Artificial Intelligence V, (11 May 1987); https://doi.org/10.1117/12.940657

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