Title :
A two-level search algorithm for motion planning
Author_Institution :
Lab. of Inf. Process. Sci., Helsinki Univ. of Technol., Espoo, Finland
Abstract :
A two-level search algorithm for motion planning is presented in this paper. The algorithm combines a multiheuristic local search algorithm with a subgoal graph based global guidance. A novel feature of the planner is that it can adjust the balance between local and global planning. As the experimental data suggests that the optimal balance depends on the problem, a scheduling mechanism is added to the algorithm to adjust the balance during planning. The resulting motion planner is capable of solving very difficult motion planning problems
Keywords :
path planning; robot dynamics; robot kinematics; robots; search problems; global planning; local planning; motion planning; multiheuristic local search algorithm; scheduling mechanism; subgoal graph based global guidance; two-level search algorithm; Computational geometry; Heuristic algorithms; Information processing; Laboratories; Motion planning; Orbital robotics; Path planning; Process planning; Robot motion; Scheduling algorithm;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619170
