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SANDROS: a motion planner with performance proportional to task difficulty

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2 Author(s)
Chen, P.C. ; Sandia Nat. Lab., Albuquerque, NM, USA ; Hwang, Y.K.

To address the need of a practical motion planner for manipulators, the authors present an efficient and resolution-complete algorithm that has performance commensurate with task difficulty. The algorithm uses SANDROS, a search strategy that combines hierarchical, nonuniform multiresolution, and best-first search to find a near-optimal solution in the configuration space. This algorithm can be applied to any manipulator, and has been tested with five- and six-degree-of-freedom robots, with execution times ranging from 20 seconds to 10 minutes on a 16 MIPS workstation

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992