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Motion planning in dynamic environments - A parallel online approach
Heinz Wörn , Dominik Henrich , Christian Wurll

Abstract (english)
This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A-search algorithm and needs no essential off-line computations. The algorithm works in an implicitly descrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. By decomposing the 6D configuration space into hypercubes and cyclically mapping them onto multiple processing units, a good load distribution can be achieved. We have implemented the parallel motion planner on a workstation cluster with 9 PCs and tested the planner for several benchmark environments. With optimal discretisation, the new approach usually shows linear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.

Publication data

Year: 1998
Publication date: 19. January 1998
Source: 3rd International Symposium on Artificial Life and Robotics (AROB'98), Oita, Japan, Jan. 19-21, 1998
Project: SKALP , PARO
Keywords (english): distributed processing , industrial robots , motion planning , on-line algorithms , parallel processing , search algorithms
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wrn1998b

BibTeX

@MISC{wrn1998b,
  TITLE             = "Motion planning in dynamic environments - A parallel online approach",
  AUTHOR            = "Wörn, Heinz and Henrich, Dominik and Wurll, Christian",
  YEAR              = "1998",
  JOURNAL           = "3rd International Symposium on Artificial Life and Robotics (AROB'98), Oita, Japan, Jan. 19-21, 1998",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wrn1998b}",
}

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wrn1998b.Motion.planning.in.dynamic.environments.A.parallel.online.approach.djvu   93.2K   english   DJVU   download preprint
wrn1998b.Motion.planning.in.dynamic.environments.A.parallel.online.approach.pdf   101.8K   english   PDF   download preprint


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