Parallel formulation of informed randomized search for robot motion planning problems

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21 Scopus citations

Abstract

We show how paths for articulated robots with many degrees of freedom can be generated in a few seconds or less using nonsystematic parallel search. We present experimental results obtained on a multicomputer for an accurate model of a 7-jointed manipulator arm operating in realistic 3D workspaces. We then present and discuss a fast method for smoothing the paths delivered by the parallel algorithm.

Original languageEnglish (US)
Pages (from-to)709-714
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - Jan 1 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

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