Multi-directional search with goal switching for robot path planning

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Henrich, Dominik ; Wurll, Christian ; Wörn, Heinz:
Multi-directional search with goal switching for robot path planning.
In: Tasks and Methods in Applied Artificial Intelligence : 11th International Conference on Industrial and Engineering Applications of Artificial Intelligence and Expert Systems IEA-98-AIE, Benicassim, Castellon, Spain, June, 1998 Proceedings. Volume II. - Berlin : Springer , 1998 . - pp. 75-84
ISBN 978-3-540-69350-5
DOI: https://doi.org/10.1007/3-540-64574-8_393

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We present a parallel path planning method that is able to automatically handle multiple goal configurations as input. There are two basic approaches, goal switching and bi-directional search, which are combined in the end. Goal switching dynamically selects a favourite goal depending on some distance function. The bi-directional search supports the backward search direction from the goal to the start configuration, which is probably faster. The multi-directional search with goal switching combines the advantages of goal switching and bi-directional search. Altogether, the planning system is enabled to select one of the preferable goal configuration by itself. All concepts are experimentally validated for a set of benchmark problems consisting of an industrial robot arm with six degrees of freedom in a 3D environment.