Publikationsdatenbank
Publication
Multi-directional search with goal switching for robot path planningDominik Henrich , Heinz Wörn , Christian Wurll
Abstract (english)
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 fa-vourite 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 pref-erable 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.
Publication data
| Year: | 1998 |
| Publication date: | 01. July 1998 |
| Source: | The 11th International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems, Castellan, Spain, 1.-4. July, 1998 |
| Project: | SKALP , PARO |
| Keywords (english): | bidirectional search , graph search , Industrial robots , parallel processing , path planning |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=henrich1998b |
BibTeX
@MISC{henrich1998b,
TITLE = "Multi-directional search with goal switching for robot path planning",
AUTHOR = "Henrich, Dominik and Wörn, Heinz and Wurll, Christian",
YEAR = "1998",
JOURNAL = "The 11th International Conference on Industrial & Engineering Applications of Artificial Intelligence & Expert Systems, Castellan, Spain, 1.-4. July, 1998",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=henrich1998b}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| henrich1998b.Multidirectional.search.with.goal.switching.for .robot.path.planning.djvu |
189.8K | english | DJVU | download preprint | |||
| henrich1998b.Multidirectional.search.with.goal.switching.for .robot.path.planning.pdf |
106.5K | english | download preprint |