Titelangaben
Henrich, Dominik ; Wurll, Christian ; Wörn, Heinz:
On-line path planning by heuristic hierarchical search.
In:
Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society. -
Aachen
,
1998
. - S. 2239-2244
DOI: https://doi.org/10.1109/IECON.1998.724069
Angaben zu Projekten
Projekttitel: |
Offizieller Projekttitel Projekt-ID SKALP Ohne Angabe PARO Ohne Angabe |
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Abstract
In this paper, the problem of path planning for robot manipulators with six degrees of freedom in an on-line provided three-dimensional environment is investigated. As a basic approach, the best-first algorithm is used to search in the implicit discrete configuration space. Collisions are detected in the Cartesian workspace by hierarchical distance computation based on the given CAD model. The basic approach is extended by three simple mechanisms and results in a heuristic hierarchical search. This is done by adjusting the stepsize of the search to the distance between the robot and the obstacles. As a first step, we show encouraging experimental results with two degrees of freedom for five typical benchmark problems.
Weitere Angaben
Publikationsform: | Aufsatz in einem Buch |
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Begutachteter Beitrag: | Ja |
Institutionen der Universität: | Fakultäten > Fakultät für Mathematik, Physik und Informatik > Institut für Informatik > Lehrstuhl Angewandte Informatik III > Lehrstuhl Angewandte Informatik III - Univ.-Prof. Dr. Dominik Henrich |
Titel an der UBT entstanden: | Nein |
Themengebiete aus DDC: | 000 Informatik,Informationswissenschaft, allgemeine Werke > 004 Informatik |
Eingestellt am: | 11 Mär 2025 12:24 |
Letzte Änderung: | 11 Mär 2025 12:24 |
URI: | https://eref.uni-bayreuth.de/id/eprint/92774 |