A review of parallel processing approaches to motion planning

  • One of the many features needed to support the activities of autonomous systems is the ability of motion planning. It enables robots to move in their environment securely and to accomplish given tasks. Unfortunately, the control loop comprising sensing, planning, and acting has not yet been closed for robots in dynamic environments. One reason involves the long execution times of the motion planning component. A solution for this problem is offered by the use of highly computational parallelism. Thus, an important task is the parallelization of existing motion planning algorithms for robots so that they are suitable for highly computational parallelism. In several cases, completely new algorithms have to be designed, so that a parallelization is feasible. In this survey, we review recent approaches to motion planning using parallel computation.

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Metadaten
Author:Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9612
Document Type:Article
Language of publication:English
Year of Completion:1996
Year of Publication:1996
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; PARO
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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