Conference Proceeding

Path planning by robot decomposition and parallel search

Robotics & Intelligent Syst. Lab., San Diego State Univ., CA
05/1997; DOI:10.1109/ROBOT.1997.620096 ISBN: 0-7803-3612-7 In proceeding of: Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, Volume: 1
Source: IEEE Xplore

ABSTRACT Path planning is achieved by a special decomposition of the robot
manipulator, an off-line preprocessing stage and a two phase online path
planning scheme. The decomposition consists of separating the robot into
several chains where a chain consists of a number of consecutive links
and joints. Preprocessing is performed by defining a set of postures for
each chain and setting up a collision table which re-integrates the
chains into full robot and specifies the collision of various defined
robot postures with obstacles. In the first online phase, local planning
is performed independently and simultaneously in joint subspaces
associated with robot chains. In the second phase, the paths found for
the chains are synthesized to obtain a collision-free path for the
robot. This decomposition reduces dimensionality of the search problem
substantially, and as a result it is possible to achieve short planning
times for robots with many degrees of freedom. Analysis of computation
time and success rate of the proposed method are presented

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    Article: Manipulator path planning by decomposition: algorithm and analysis
    A. Hourtash, M. Tarokh
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    ABSTRACT: Path planning is achieved by a special decomposition of the robot manipulator, an offline preprocessing stage, and a three phase online path planning scheme. The decomposition consists of separating the robot into several chains where a chain is a combination of several consecutive links and joints. Preprocessing is performed by defining a set of postures for each chain and setting up a collision table which re-integrates the chains into the full robot and stores the collision states of various discretized robot configurations with the obstacles. Path planning using a local search is performed independently in joint subspaces associated with robot chains. The paths found for the chains are synthesized to obtain a collision-free path for the robot. This decomposition reduces the exponential growth of computation with robot degrees of freedom (DOF) to that of the much lower chain DOF. As a result, it is possible to achieve short planning times for practical robots operating in three-dimensional work spaces. Analysis of computation time and space of the proposed method are presented. Results supporting the analysis are provided for a large number of path-planning trials with two practical robots operating in relatively cluttered environments
    IEEE Transactions on Robotics and Automation 01/2002;
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Keywords

chains
 
collision-free path
 
degrees
 
first online phase
 
joint subspaces
 
joints
 
local planning
 
obstacles
 
off-line preprocessing stage
 
Path planning
 
paths
 
proposed method
 
re-integrates
 
robot chains
 
second phase
 
special decomposition
 
specifies
 
success rate
 
various
 

M. Tarokh