Efficient Motion Planning in High Dimensional Spaces: The Parallelized Z^3-Method

摘要

email baginskiinformatiktumuenchende ABSTRACT We present a method to plan collision free paths for manipulators with any number of degrees of freedom The method is very ecient as it ommits a complete representa tion of the high dimensional search space Its complexity is linear in the number of degrees of freedom A preprocessing of the geometry data of the robot or the environment is not required In the planning process several more or less independent partial tasks of dierrent complexity can be identied thus allowing to parallelize the algorithm in several ways to increase the eciency towards realtime operation in most practical cases This paper gives an overview of our recent concepts and implementations