Referenced Items are not available for this document.
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
- Page(s):
- 2346 - 2353 vol.3
- Meeting Date :
- 12 May 1992-14 May 1992
- Print ISBN:
- 0-8186-2720-4
- INSPEC Accession Number:
- 4368219
- Conference Location :
- Nice
- Digital Object Identifier :
- 10.1109/ROBOT.1992.220112
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