Title :
A parallel formulation of informed randomized search for robot motion planning problems
Author :
Challou, Daniel ; Boley, Daniel ; Gini, Maria ; Kumar, Vipin
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
Abstract :
We show how paths for articulated robots with many degrees of freedom can be generated in a few seconds or less using nonsystematic parallel search. We present experimental results obtained on a multicomputer for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm
Keywords :
manipulators; parallel algorithms; path planning; search problems; smoothing methods; 3D workspaces; articulated robots; manipulator; nonsystematic parallel search; parallel algorithm; randomized search; robot motion planning; Computer science; Concurrent computing; Manipulators; Motion planning; Orbital robotics; Parallel algorithms; Parallel robots; Path planning; Robot motion; Search methods;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525367
