Rearrangement of multiple movable objects - integration of global and local planning methodology

A rearrangement planning methodology of multiple movable objects by a mobile robot is proposed. Several objects are to be moved from an initial configuration to separate destinations as a result of a robot handling operation. This report proposes a planning algorithm consisting of a global motion planner and a local motion planner. The global planner utilizes a priority graph of a movable object, while the local planner requires a real-time search methodology. The simulation results of rearrangements with three, four, and eight movable objects demonstrate the effectiveness of the proposed algorithm.