Fast motion planning by parallel processing - A review

  • 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. As a classification scheme, we use the structure given by the different approaches to the robot's motion planning. For each approach, the available parallel processing methods are discussed. Each approach is uniquely assigned a class. Finally, for each referenced research work, a list of keywords is given.

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Metadaten
Verfasserangaben:Dominik Henrich
URN (Permalink):urn:nbn:de:hbz:386-kluedo-9642
Dokumentart:Wissenschaftlicher Artikel
Sprache der Veröffentlichung:Englisch
Jahr der Fertigstellung:1997
Jahr der Veröffentlichung:1997
Veröffentlichende Institution:Technische Universität Kaiserslautern
Datum der Publikation (Server):29.03.2000
Freies Schlagwort / Tag:AG-RESY ; PARO ; SKALP ; autonomous systems ; motion planning ; parallel algorithms ; parallelism and concurrency ; review; robotics
Fachbereiche / Organisatorische Einheiten:Fachbereich Informatik
DDC-Sachgruppen:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Sammlungen:AG RESY
Lizenz (Deutsch):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

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