Evaluation of the configuration space of robots upon a distributed computing system

摘要

In this article, a general method for the calculation of the configuration space for a robot is analysed, looking for opportunities of parallelism. The design and implementation of algorithms upon a distributed computing system is presented. In these algorithms two levels of parallelism appear: for the basic level of operation of the proposed algorithm and for the level of the utilized computational tool Fast Fourier Transform (FFT). In the method employed to carry out the paralellization, the master-slave philosophy is followed, using a message-passing library (MPI). Taking as case of study a robot that moves upon a plane, a load balance is carried out and the influence of the granularity is analyzed for a master and various slave processes. In this way, it is obtained a reduction of the calculation time, for the best solution, to a third part of the employed time in the implementation of the secuential algorithm, showing the line to follow for the significant reduction of the calculation times.