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Multi-directional search with goal switching for robot path planning
Dominik Henrich , Heinz Wörn , Christian Wurll

Abstract (english)
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.

Publication data

Year: 1998
Publication date: 01. July 1998
Source: The 11th International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems, Castellan, Spain, 1.-4. July, 1998
Project: SKALP , PARO
Keywords (english): bidirectional search , graph search , industrial robots , parallel processing , path planning
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998b

BibTeX

@MISC{henrich1998b,
  TITLE             = "Multi-directional search with goal switching for robot path planning",
  AUTHOR            = "Henrich, Dominik and Wörn, Heinz and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "The 11th International Conference on Industrial \& Engineering Applications of Artificial Intelligence \& Expert Systems, Castellan, Spain, 1.-4. July, 1998",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998b}",
}

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henrich1998b.Multidirectional.search.with.goal.switching.for.robot.path.planning.djvu   189.8K   english   DJVU   download preprint
henrich1998b.Multidirectional.search.with.goal.switching.for.robot.path.planning.pdf   106.5K   english   PDF   download preprint


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