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.
Verfasser*innenangaben: | Dominik Henrich, Christian Wurll, Heinz Wörn |
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URN: | urn:nbn:de:hbz:386-kluedo-9856 |
Dokumentart: | Wissenschaftlicher Artikel |
Sprache der Veröffentlichung: | Englisch |
Jahr der Fertigstellung: | 1998 |
Jahr der Erstveröffentlichung: | 1998 |
Veröffentlichende Institution: | Technische Universität Kaiserslautern |
Datum der Publikation (Server): | 25.05.2000 |
Freies Schlagwort / Tag: | AG-RESY; PARO; SKALP; bi-directional search; graph search; industrial robots; parallel processing; path planning |
Fachbereiche / Organisatorische Einheiten: | Kaiserslautern - Fachbereich Informatik |
DDC-Sachgruppen: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Sammlungen: | AG RESY |
Lizenz (Deutsch): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |