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On-line path planning with optimal C-space discretization
Dominik Henrich , Heinz Wörn , Christian Wurll

Abstract (english)
This paper is based on a path planning approach we reported earlier for industrial robot arms with 6 degrees of freedom in an on-line given 3D environment. It has on-line capabilities by searching in an implicit and descrete configuration space and detecting collisions in the Cartesian workspace by distance computation based on the given CAD model. Here, we present different methods for specifying the C-space discretization. Besides the usual uniform and heuristic discretization, we investigate two versions of an optimal discretization for an user-predefined Cartesian resolution. The different methods are experimentally evaluated. Additionally, we provide a set of 3- dimensional benchmark problems for a fair comparison of path planner. For each benchmark, the run-times of our planner are between only 3 and 100 seconds on a Pentium PC with 133 MHz.

Publication data

Year: 1998
Publication date: 12. October 1998
Source: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'98), Victoria, Canada, Oct. 12-16, 1998
Project: SKALP , PARO
Keywords (english): discretization , industrial robots , on-line algorithms , path planning , search algorithms
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998d

BibTeX

@MISC{henrich1998d,
  TITLE             = "On-line path planning with optimal C-space discretization",
  AUTHOR            = "Henrich, Dominik and Wörn, Heinz and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'98), Victoria, Canada, Oct. 12-16, 1998",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=henrich1998d}",
}

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henrich1998d.Online.path.planning.with.optimal.Cspace.discretization.djvu   133.7K   english   DJVU   download preprint
henrich1998d.Online.path.planning.with.optimal.Cspace.discretization.pdf   125.1K   english   PDF   download preprint


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