Parallel path planning with temporal parametrization
Vidal Moreno, E. Sanz, Francisco Javier Blanco · 2002
The automatic generation of robot free-collision paths for accomplishing user-specified tasks is one of the key elements in robotics. Due to the high computational cost involved in the problem, it is very difficult to find solutions achieving online performance. In this paper, a general and new approach that provides this online motion planning capability to robot manipulators, is proposed. The new approach is based on a temporal parametrization of the state variables so that the problem can be seen as an optimal time one. The most advanced technique for path planning using the C-space representation has been applied and a parallel graph search algorithm has been developed with the aim of carrying out this task with a low computational cost. The proposed approach has been tested in real manipulators, it can be easily applied to solve industrial problems.