Fast Motion Planning for Dexterous Robots
نویسندگان
چکیده
We show that paths for dexterous robots can be generated in a few seconds or less using parallel informed randomized search on multicomputers. The experimental results we present have been obtained for a simulated 7-jointed arm operating in realistic 3D workspaces. We also present a new method for predicting the solution times that our parallel formulation can deliver on increasing numbers of processors.
منابع مشابه
Path Planning for Dexterous Mobility
In order to overcome a large variety of run-time constraints, robots are being designed to be more resourceful by incorporating more sensory and motor options for any given task. The added flexibility provides a basis for dexterous problem solving, but challenges planners by increasing the complexity of search. Moreover, the cost of functionally equivalent options can vary dramatically. In the ...
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