TY  - JOUR
A1  - Wörn, Heinz
A1  - Henrich, Dominik
A1  - Wurll, Christian
T1  - Motion planning in dynamic environments - A parallel online approach
N2  - This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel motion planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows linear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.
KW  - AG-RESY
KW  - PARO
KW  - SKALP
KW  - industrial robots
KW  - motion planning
KW  - on-line algorithms
KW  - distributed and parallel processing
KW  - search algorithms
Y1  - 1998
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1020
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9743
ER  -