## On-line path planning by heuristic hierarchical search

• In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.

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Author: Dominik Henrich, Christian Wurll, Heinz Wörn urn:nbn:de:hbz:386-kluedo-9718 Article English 1998 1998 Technische Universität Kaiserslautern 2000/04/04 AG-RESY ; PARO ; SKALP Fachbereich Informatik 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik AG RESY Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011

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