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On-line path planning by heuristic hierarchical search
Dominik Henrich , Heinz Wörn , Christian Wurll

Abstract (english)
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.

Publication data

Year: 1998
Publication date: 31. August 1998
Source: The 24th Annual Conference of the IEEE Industrial Electronics Society (IECON'98), Aachen, Germany, August 31 - September 4, 1998
Project: SKALP , PARO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998c

BibTeX

@MISC{henrich1998c,
  TITLE             = "On-line path planning by heuristic hierarchical search",
  AUTHOR            = "Henrich, Dominik and Wörn, Heinz and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "The 24th Annual Conference of the IEEE Industrial Electronics Society (IECON'98), Aachen, Germany, August 31 - September 4, 1998",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998c}",
}

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