Configuration Space of 3D Mobile Robots: Parallel Processing
نویسندگان
چکیده
In this paper we present an analysis that indentifies opportunities of introducing parallelism in the calculation of the configuration space. When the Convolution Theorem is used for this evaluation, two levels have appeared within the basic operation of the algorithms and another one for the employed computational tool (Fast Fourier Transform, FFT). The method has been applied to robots moving on a plane in a 3D workspace. As a result, an optimal reduction of the calculation time is obtained: the parallel implementation, working on a tetra-processor, is more than three times faster than the sequential one. Finally, it can be added that the proposed design for the parallel algorithm is general and easily implementable for articulated robots.
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