Parallel computation of configuration space

Many motion planning methods use Configuration Space to represent a robot manipulator's range of motion and the obstacles which exist in its environment. The Cartesian to Configuration Space mapping is computationally intensive and this paper describes how the execution time can be decreased by...

Full description

Saved in:
Bibliographic Details
Published in:Robotica 1996-03, Vol.14 (2), p.205-212
Main Authors: González, J. Solano, Jonest, D.I.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Configuration space
Control theory. Systems
Exact sciences and technology
Motion planning
Obstacles
Parallel computation
Robotics
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Many motion planning methods use Configuration Space to represent a robot manipulator's range of motion and the obstacles which exist in its environment. The Cartesian to Configuration Space mapping is computationally intensive and this paper describes how the execution time can be decreased by using parallel processing. The natural tree structure of the algorithm is exploited to partition the computation into parallel tasks. An implementation programmed in the occam2 parallel computer language running on a network of INMOS transputers is described. The benefits of dynamically scheduling the tasks onto the processors are explained and verified by means of measured execution times on various processor network topologies. It is concluded that excellent speed-up and efficiency can be achieved provided that proper account is taken of the variable task lengths in the computation.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700019111