SANDROS: a motion planner with performance proportional to task difficulty
作者： P.C. Chen , Y.K. Hwang
DOI: 10.1109/ROBOT.1992.220112
关键词: Simulation 、 Configuration space 、 Robot 、 Control system 、 Motion planning 、 Algorithm 、 Ranging 、 Computer science 、 Task (project management) 、 Manipulator
摘要: To address the need of a practical motion planner for manipulators, authors present an efficient and resolution-complete algorithm that has performance commensurate with task difficulty. The uses SANDROS, search strategy combines hierarchical, nonuniform multiresolution, best-first to find near-optimal solution in configuration space. This can be applied any manipulator, been tested five- six-degree-of-freedom robots, execution times ranging from 20 seconds 10 minutes on 16 MIPS workstation. >
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