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Parallel on-line motion planning for industrial robots
Christian Wurll , Dominik Henrich , Heinz Wörn

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, and sometimes even superlinear speedups. In on-line provided environments with static obstacles, the parallel planning times are only a few seconds.

Publication data

Year: 1998
Publication date: 26. April 1998
Source: The Third ASCE Specialty Conference on Robotics for Challenging Environments, Robotics'98, Albuquerque, New Mexico, April 26-30, 1998
Project: SKALP , PARO
Keywords (english): motion planning , parallel processing , search algorithms
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wurll1998b

BibTeX

@MISC{wurll1998b,
  TITLE             = "Parallel on-line motion planning for industrial robots",
  AUTHOR            = "Wurll, Christian and Henrich, Dominik and Wörn, Heinz",
  YEAR              = "1998",
  JOURNAL           = "The Third ASCE Specialty Conference on Robotics for Challenging Environments, Robotics'98, Albuquerque, New Mexico, April 26-30, 1998",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=wurll1998b}",
}

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