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URN: urn:nbn:de:swb:90-AAA218967

Randomized parallel motion planning for robot manipulators

Qin, Caigong; Henrich, Dominik

Abstract:

We present a novel approach to parallel motion planning for
robot manipulators in 3D workspaces. The approach is based on a
randomized 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 configuration 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 configuration to the goal via a number of
randomly generated subgoal configurations. 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 out on the parallel 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 efficiency ... mehr


Zugehörige Institution(en) am KIT Institut für Prozeßrechentechnik und Robotik (IPR)
Publikationstyp Buch
Jahr 1996
Sprache Englisch
Identifikator KITopen ID: 21896
Erscheinungsvermerk Karlsruhe 1996. (Interner Bericht. Fakultät für Informatik, Universität Karlsruhe. 1996,5.)
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