Multi-directional search with goal switching for robot path planning

  • We present a parallel path planning method that is able to automatically handle multiple goal configurations as input. There are two basic approaches, goal switching and bi-directional search, which are combined in the end. Goal switching dynamically selects a fa-vourite goal depending on some distance function. The bi-directional search supports the backward search direction from the goal to the start configuration, which is probably faster. The multi-directional search with goal switching combines the advantages of goal switching and bi-directional search. Altogether, the planning system is enabled to select one of the pref-erable goal configuration by itself. All concepts are experimentally validated for a set of benchmark problems consisting of an industrial robot arm with six degrees of freedom in a 3D environment.

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Metadaten
Author:Dominik Henrich, Christian Wurll, Heinz Wörn
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9856
Document Type:Article
Language of publication:English
Year of Completion:1998
Year of Publication:1998
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; PARO ; SKALP ; bi-directional search ; graph search ; industrial robots ; parallel processing; path planning
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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