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JRM Vol.8 No.1 pp. 25-32
doi: 10.20965/jrm.1996.p0025
(1996)

Paper:

Path Planning Based on Task Knowledge and User’s Intention

Hiroyuki Ogata* and Tomoichi Takahashi**

* Nippon Telegraph and Telephone Co., 3-9-11 Midori-cho, Musashino-shi, Tokyo, 180 Japan

**Chubu University 1200 Matsumoto, Kasugai-shi, Aichi, 487 Japan (This study was done in NTT Co.)

Received:
November 28, 1995
Accepted:
December 10, 1995
Published:
February 20, 1996
Keywords:
Path planning, Teaching, Task knowledge, User intention, Replanning
Abstract

This paper introduces a method to extract task knowledge from an example shown by an teacher or generated by a planner, and to apply the knowledge to plan a path in similar environments where dimentions, design and location of parts may change. Our goal is to make efficient use of learning task resource and to easily plan a path in complex environments. Our method is based on the A*algorithm. We developed a technique to generate a suboptimal path with much less search nodes than the traditional A*algorithm, and to make a heuristic function that includes task knowledge. Examples are shown to verify the effectiveness of our method.

Cite this article as:
Hiroyuki Ogata and Tomoichi Takahashi, “Path Planning Based on Task Knowledge and User’s Intention,” J. Robot. Mechatron., Vol.8, No.1, pp. 25-32, 1996.
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