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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 (permanent link):urn:nbn:de:hbz:386-kluedo-9718
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
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