Memory Efficient Real-Time Motion Planning by Dual-Resolution Heuristic Search
Ralf Gomm and Sabri Cetinkunt
Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL 60607, USA
Memory efficient path planning is achieved in real-time for a linkage mechanism with five degrees of freedom (DOF) as found in mobile construction machinery. Collision-free end-effector positions are obtained in an off-line preprocessing phase utilizing deterministic dual-resolution sampling. Moving obstacles are decoupled for complexity and memory reduction. Solutions to particular path planning problems are computed during an on-line phase by heuristic driven A* search. To enable path planning on current and future anticipated embedded computer resources of construction machinery, the search strategy is optimized by designing the behavior of heuristic functions specifically for our problem space. The performance of the heuristic guided method is evaluated and compared to other non-heuristic and heuristic searches.
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