Parallel robot motion planning

Author

Lozano-Pérez, Tomás ; Donnell, Patrick A O

Author_Institution

Artificial Intelligence Lab., MIT, Cambridge, MA, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1000

Abstract

A fast, parallel method for computing configuration space maps is presented. The method is made possible by recognizing that one can compute a family of primitive maps which can be combined by superposition based on the distribution of real obstacles. This motion planner has been implemented for the first three degrees-of-freedom of a Puma robot in *Lisp on a Connection Machine with 8 K processors. A six degree-of-freedom version of the algorithm which performs a sequential search of the six-dimensional configuration space, building three-dimensional cross sections in parallel, has also been implemented

Keywords

computational geometry; parallel algorithms; planning (artificial intelligence); robots; search problems; *Lisp; Connection Machine; Puma robot; computational geometry; configuration space maps; parallel algorithms; parallel method; primitive maps; robot motion planning; sequential search; six degree-of-freedom; six-dimensional configuration space; Artificial intelligence; Concurrent computing; Distributed computing; Laboratories; Motion planning; Orbital robotics; Parallel algorithms; Parallel robots; Path planning; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131722

Filename

131722