Title :
Parallel robot motion planning
Author :
Lozano-Pérez, Tomás ; Donnell, Patrick A O
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
A fast, parallel method for computing configuration space maps is presented. The method is made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles. This motion planner has been implemented for the first three degrees-of-freedom of a Puma robot in *Lisp on a Connection Machine with 8 K processors. A six degree-of-freedom version of the algorithm which performs a sequential search of the six-dimensional configuration space, building three-dimensional cross sections in parallel, has also been implemented
Keywords :
computational geometry; parallel algorithms; planning (artificial intelligence); robots; search problems; *Lisp; Connection Machine; Puma robot; computational geometry; configuration space maps; parallel algorithms; parallel method; primitive maps; robot motion planning; sequential search; six degree-of-freedom; six-dimensional configuration space; Artificial intelligence; Concurrent computing; Distributed computing; Laboratories; Motion planning; Orbital robotics; Parallel algorithms; Parallel robots; Path planning; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131722
