Motion planning in dynamic environments - A parallel online approach

摘要: This paper presents a new approach to parallel motion planning for industrial robot arms with six degrees of freedom in an on-line given 3D environment. The method is based on the A-search algorithm and needs no essential off-line computations. works implicitly descrete configuration space. Collisions are detected Cartesian workspace by hierarchical distance computation CAD model. By decomposing 6D space into hypercubes cyclically mapping them onto multiple processing units, good load distribution can be achieved. We have implemented planner workstation cluster 9 PCs tested several benchmark environments. With optimal discretisation, usually shows linear speedups. In provided environments static obstacles, times only few seconds.