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Proceedings Paper

A Technique For Planning In A Blocks World Environment
Author(s): Vincent Tat; Robert McLaren
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Paper 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.

Paper Details

Date Published: 11 May 1987
PDF: 4 pages
Proc. SPIE 0786, Applications of Artificial Intelligence V, (11 May 1987); doi: 10.1117/12.940657
Show Author Affiliations
Vincent Tat, University of Missouri (United States)
Robert McLaren, University of Missouri (United States)


Published in SPIE Proceedings Vol. 0786:
Applications of Artificial Intelligence V
John F. Gilmore, Editor(s)

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