Distributed Motion Planning for Service Robotic Applications

• Autores: Ralf Blechschmidt, Dobrivoje Popovic's
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 373-382
• Idioma: inglés
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• Resumen

  • The development of robot and manipulator systems to support the aged and/or handicapped persons, rending them a greater daily life independence is one core objective of service robotics. The motion of service robots to meet some given objectives has to be planned. For this purpose a knowledge-based approach for trajectory planning of a manipulator arm, assembled at a wheel chair, and a pertaining evolutionary optimisation algorithm is proposed. The approach offers the opportunity to adapt the planning approach to the specific problem to be solved. The required computational power can be provided by standard personal computers, interfaced with a distributed computer system with a parallel virtual machine (PVM) software architecture. The characteristics of the evolutionary algorithm and its implementation on a distributed system, results in an efficient and flexible path planning system, are described.