A parallel formulation of informed randomized search for robot motion planning problems

作者：Daniel Challou, Daniel L. Boley, Maria L. Gini, Vipin Kumar · 年份：2002 · DOI：10.1109/robot.1995.525367 · 被引用次数：40 · 研究领域：Robotic Path Planning Algorithms、Robot Manipulation and Learning、Robotics and Sensor-Based Localization

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.