In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to collision with obstacles. However this problem is computationally expensive and grows exponentially in the size of number of movable obstacles. This work looks into approximate solutions that are computationally less intensive and differ from the optimal solution by a factor of the optimal cost.

翻译：本文从移动机器人运动规划的视角探讨了最小障碍位移（MOD）规划问题。当因与障碍物碰撞而无法通行时，该问题通过移动可移动障碍物来寻找通往目标的最优路径。然而，该问题计算成本高昂，且随可移动障碍物数量呈指数级增长。本研究考察了计算强度较低的近似解，其与最优解之间的差异由最优代价的倍数因子决定。