A Parallel Motion Planner for Systems with Many Degrees of Freedom
Pekka Isto · 2001
During the several decades of research, a number of algorithms intended to solve practical motion planning problems have been presented. However, the intractability of the problem makes it difficult to design algorithms capable of solving hard problems, especially when the number of degrees-of-freedom is large. It is necessary to use all available means to extend the domain of practically solvable problem instances. This paper reports results for a parallel implementation of a motion planner based on two-level search algorithm. The planner can solve difficult problems with many degrees-of-freedom within practicable time limits. Furthermore, easier problems can be solved with unprecedented search resolution.