PATH PLANNING BY MULTIHEURISTIC SEARCH VIA SUBGOALS

摘要

An efficient path planning algorithm for general 6 degrees of freedom robots is presented in the paper. The path planner is based on multiheuristic A * search algorithm with dynamic subgoal generation for rapid escaping from deep local-minimum wells. The algorithm has been implemented as an extension to a robot off-line programming and simulation system for testing. The presented test results demonstrate that the algorithm is practically applicable to path planning for devices of different kinematic structure. INTRODUCTION Computation of a collision-free path for an movable object among obstacles is an important problem in the fields of robotics, CIM and AI. Various automatic task level programming systems can be build for robot guidance, teleoperation, assembly and disassembly among others, if a suitable method for path planning is available. In this paper an algorithm for path planning is presented. It is an extension of the well known and widely applied A * search algorithm (H...