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Publication
Point-to-Point and Multi-Goal Path Planning for Industrial RobotsChristian Wurll , Dominik Henrich
Abstract (english)
This article presents contributions in the field of path planning for industrial robots with 6 degrees of freedom. This work presents the results of our research in the last 4 years at the Institute for Process Control and Robotics at the University of Karlsruhe. The path planning approach we present works in an implicit and discretized C-space. Collisions are detected in the Cartesian workspace by a hierarchical distance computation. The method is based on the A* search algorithm and needs no essential off-line computation. A new optimal discretization method leads to smaller search spaces, thus speeding up the planning. For a further acceleration, the search was parallelized. With a static load distribution good speedups can be achieved. By extending the algorithm to a bidirectional search, the planner is able to automatically select the easier search direction. The new dynamic switching of start and goal leads finally to the multi-goal path planning, which is able to compute a collision-free path between a set of goal poses (e.g., spot welding points) while minimizing the total path length.
Publication data
| Year: | 2001 |
| Publication date: | 12. June 2001 |
| Source: | Preprint: Special Issue on "Motion Planning" of the Journal of Robotic Systems, 2001 |
| Project: | SKALP |
| Keywords (english): | bidirectional search , discretization , graph search , industrial robots , on-line algorithms , path planning , point-to-point , search algorithms |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=wurll2001a |
BibTeX
@MISC{wurll2001a,
TITLE = "Point-to-Point and Multi-Goal Path Planning for Industrial Robots",
AUTHOR = "Wurll, Christian and Henrich, Dominik",
YEAR = "2001",
JOURNAL = "Preprint: Special Issue on "Motion Planning" of the Journal of Robotic Systems, 2001",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=wurll2001a}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| wurll2001a.PointtoPoint.and.MultiGoal.Path.Planning.for.Indu strial.Robots.djvu |
355.2K | english | DJVU | download preprint | |||
| wurll2001a.PointtoPoint.and.MultiGoal.Path.Planning.for.Indu strial.Robots.pdf |
463.7K | english | download preprint |