Multi-directional search with goal switching for robot path planning

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 1416, Issue , 1998, Pages 75-84

  Henrich, Dominik ^a   Wurll, Christian ^a   Worn, Heinz ^a  

^a UNIVERSITY OF KARLSRUHE   (Germany)

Author keywords

Bi directional search; Graph search; Industrial robots; Parallel processing; Path planning

Indexed keywords

ARTIFICIAL INTELLIGENCE; DEGREES OF FREEDOM (MECHANICS); EXPERT SYSTEMS; INDUSTRIAL ROBOTS; ROBOT PROGRAMMING; ROBOTS; SWITCHING;

BENCH-MARK PROBLEMS; BI-DIRECTIONAL SEARCH; DIRECTIONAL SEARCH; DISTANCE FUNCTIONS; GRAPH SEARCH; PARALLEL PROCESSING; ROBOT PATH-PLANNING; SIX DEGREES OF FREEDOM;

MOTION PLANNING;

EID: 84958033815     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/3-540-64574-8_393     Document Type: Conference Paper

References (13)

1. Beeh F.: "Erweiterung eines paraUelen Bewegungsplaners fur dynamische Umgebungen”. Master's Thesis, University of Karlsruhe, Faculty for Informatics, 1997.
2. Hart P. E., Nilsson N. J., Raphael B.: "A forma] basis for the heuristic determination of minimum cost paths". In: IEEE Trans. Systems, Science and Cybernetics, Jan. 1968, pp 100-107.
3. Henrich D., Cheng X.: "Fast distance computation for on-line collision detection with multi-arm robots", In: Proceedings of the IEEE International Conference on Robotics and Automation, Nice, France, May 10.-15., 1992, pp. 2514-2519.
4. Henrich D., Gontermann S., Worn H.: "KoIIisionserkennung durch parallele Ab- standsberechnung”. In: 13. Fachgesprach Autonome Mobile Systeme (AMS'97), Stuttgart, 6.-7. Oktober 1997, Springer-Verlag, Reihe "Informatik Aktuell".
5. Henrich D.: "Fast motion planning by parallel processing - A review". In: Journal of Intel­ligent and Robotic Systems, vol 20, no 1, pp 45-69, Sept 1997.
6. Henrich D., Wurll Ch., Worn H.: "6 DOF path planning in dynamic environments - A parallel on-line approach ". In: Proceedings of IEEE International Conference on Robotics and Automation (ICRA'98), Leuven, Belgium, May 16-21,1998.
7. Hwang Y. K„ Ahuja N.: "Gross path planning - A survey”, ACM Computing Surveys, vol 24, no 3, Sept. 1992.
8. Kamal L., Gupta K., del Pobil A.P.: “Practical path planning in robotics: Current ap­proaches and fature directions", IEEE Robotics & Automation Magazine, Dec. 1996.
9. Katz G.: "Integration eines paraUelen Bewegungsplaners in ROBCAD”, Master’s Thesis, University of Karlsruhe, Faculty for Informatics, 1996.
10. Korf R. E.: "Search". In: Encyclopaedia of Artificial Intelligence, S. C. Shapiro (ed.), vol 2, pp 1460-73, 2nd Edition, John Wiley&Sons, New York, 1992.
11. Nassimi D., Joshi M., Sohn A.: "H-PBS: A hash-based scalable technique for parallel bidirectional search". In: Proc. of the 7th IEEE Symposium on PDP, San Antonio, 1995, pp 414-421.
12. Nelson P. C., Toptsis A. A.: "Unidirectional and bidirectional search algorithms". In: IEEE Software, vol 9, no 2, 1992, pp 77-83.
13. Wurll C., Henrich D.: "Ein Workstation-Cluster fur paralleles Rechnen in Robotik- Anwendungen". In: Proceedings der 4. ITG/GI-Fachtagung Arbeitsplatz-Rechensysteme (APS'97), Universitat Koblenz-Landau, 21.-22. Mai 1997, pp 187-196.