Parallel path planning with temporal parametrization

Author

Moreno, V. ; Sanz, E. ; Blanco, F.J.

Author_Institution

Dept. Comput. & Autom., Salamanca Univ., Spain

fYear

1997

fDate

10-11 Jul 1997

Firstpage

102

Lastpage

107

Abstract

The automatic generation of robot free-collision paths for accomplishing user-specified tasks is one of the key elements in robotics. Due to the high computational cost involved in the problem, it is very difficult to find solutions achieving online performance. In this paper, a general and new approach that provides this online motion planning capability to robot manipulators, is proposed. The new approach is based on a temporal parametrization of the state variables so that the problem can be seen as an optimal time one. The most advanced technique for path planning using the C-space representation has been applied and a parallel graph search algorithm has been developed with the aim of carrying out this task with a low computational cost. The proposed approach has been tested in real manipulators, it can be easily applied to solve industrial problems

Keywords

graph theory; manipulator dynamics; parallel algorithms; path planning; real-time systems; search problems; C-space representation; dynamic path planning; manipulators; online motion planning; optimisation; parallel graph search algorithm; real time systems; robot; temporal parametrization; Application software; Computational efficiency; Computer industry; Concurrent computing; Manipulators; Orbital robotics; Path planning; Robotics and automation; Robots; State-space methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 1997. CIRA'97., Proceedings., 1997 IEEE International Symposium on

Conference_Location

Monterey, CA

Print_ISBN

0-8186-8138-1

Type

conf

DOI

10.1109/CIRA.1997.613845

Filename

613845