Title data
Qin, Caigong ; Henrich, Dominik:
Randomized Parallel Motion Planning for Robot Manipulators.
Karlsruhe
,
1996
.
- (Interner Bericht / Universität Karlsruhe, Fakultät für Informatik
; 96,5
)
DOI: https://doi.org/10.5445/IR/21896
Project information
Project title: |
Project's official title Project's id SKALP No information PARO No information |
---|
Abstract in another language
We have presented a novel approach to parallel motion planning for robot manipulators in 3D workspaces. The approach is based on arandomized parallel search algorithm and focuses on solving the path planning problem for industrial robot arms working in a reasonably cluttered workspace. The path planning system works in the discretized con guration space, which needs not to be represented explicitly. The parallel search is conducted by a number of rule-based sequential search processes, which work to find a path connecting the initial con guration to the goal via a number of randomly generated subgoal con gurations. Since the planning performs only on-line collision tests with proper proximity information without using pre-computed information, the approach is suitable for planning problems with multirobot or dynamic environments. The implementation has been carried outontheparallel virtual machine (PVM) of a cluster of SUN4 workstations and SGI machines. The experimental results have shown that the approach works well for a 6-dof robot arm in a reasonably cluttered environment, and that parallel computation increases the e ciency of motion planning signi cantly.
Further data
Item Type: | Book / Monograph |
---|---|
Institutions of the University: | Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich |
Result of work at the UBT: | No |
DDC Subjects: | 000 Computer Science, information, general works > 004 Computer science |
Date Deposited: | 12 Mar 2025 08:16 |
Last Modified: | 12 Mar 2025 08:16 |
URI: | https://eref.uni-bayreuth.de/id/eprint/92797 |