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Motion planning in dynamic environments - A parallel online approach

  • This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel motion planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows linear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.

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Author:Heinz Wörn, Dominik Henrich, Christian Wurll
URN (permanent link):urn:nbn:de:hbz:386-kluedo-9743
Document Type:Article
Language of publication:English
Year of Completion:1998
Year of Publication:1998
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2000/04/04
Tag:AG-RESY; PARO; SKALP; distributed and parallel processing; industrial robots; motion planning; on-line algorithms; search algorithms
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011