Memory Efficient Real-Time Motion Planning by Dual-Resolution Heuristic Search | Zendy

Ralf Gomm | Zendy; Sabri Cetinkunt | Zendy

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Memory Efficient Real-Time Motion Planning by Dual-Resolution Heuristic Search

Author(s) -

Ralf Gomm,

Sabri Cetinkunt

Publication year - 2007

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2007.p0114

Subject(s) - heuristic , incremental heuristic search , motion planning , computer science , null move heuristic , path (computing) , any angle path planning , preprocessor , consistent heuristic , dual (grammatical number) , artificial intelligence , search algorithm , mathematical optimization , algorithm , beam search , mathematics , robot , art , literature , programming language

Memory efficient path planning is achieved in real-time for a linkage mechanism with five degrees of freedom (DOF) as found in mobile construction machinery. Collision-free end-effector positions are obtained in an off-line preprocessing phase utilizing deterministic dual-resolution sampling. Moving obstacles are decoupled for complexity and memory reduction. Solutions to particular path planning problems are computed during an on-line phase by heuristic driven A* search. To enable path planning on current and future anticipated embedded computer resources of construction machinery, the search strategy is optimized by designing the behavior of heuristic functions specifically for our problem space. The performance of the heuristic guided method is evaluated and compared to other non-heuristic and heuristic searches.

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