Point-to-Point and Multi-Goal Path Planning for Industrial Robots

  • This article presents contributions in the field of path planning for industrial robots with 6 degrees of freedom. This work presents the results of our research in the last 4 years at the Institute for Process Control and Robotics at the University of Karlsruhe. The path planning approach we present works in an implicit and discretized C-space. Collisions are detected in the Cartesian workspace by a hierarchical distance computation. The method is based on the A* search algorithm and needs no essential off-line computation. A new optimal discretization method leads to smaller search spaces, thus speeding up the planning. For a further acceleration, the search was parallelized. With a static load distribution good speedups can be achieved. By extending the algorithm to a bidirectional search, the planner is able to automatically select the easier search direction. The new dynamic switching of start and goal leads finally to the multi-goal path planning, which is able to compute a collision-free path between a set of goal poses (e.g., spot welding points) while minimizing the total path length.

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Metadaten
Author:Christian Wurll, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11522
Document Type:Preprint
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; SKALP ; bidirectional search ; discretization; graph search ; industrial robots ; on-line algorithms ; path planning ; search algorithms
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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