Proceedings of the 27th International Symposium on Industrial Robots, CEU, Milan, 1996, 712-726. PATH PLANNING BY MULTIHEURISTIC SEARCH VIA SUBGOALS
نویسنده
چکیده
An efficient path planning algorithm for general 6 degrees of freedom robots is presented in the paper. The path planner is based on multiheuristic A search algorithm with dynamic subgoal generation for rapid escaping from deep local-minimum wells. The algorithm has been implemented as an extension to a robot off-line programming and simulation system for testing. The presented test results demonstrate that the algorithm is practically applicable to path planning for devices of different kinematic structure.
منابع مشابه
Path Planning by Multiheuristic Search via Subgoals
An efficient path planning algorithm for general 6 degrees of freedom robots is presented in the paper. The path planner is based on multiheuristic A search algorithm with dynamic subgoal generation for rapid escaping from deep local-minimum wells. The algorithm has been implemented as an extension to a robot off-line programming and simulation system for testing. The presented test results dem...
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