- Multi-directional search with goal switching for robot path planning (1998)
- 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.
- Anwendungen effizienter Verfahren in Automation - Universität Karlsruhe auf der SPS97 in Nürnberg - (1998)
- Point-to-Point and Multi-Goal Path Planning for Industrial Robots (2001)
- 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.