Author(s)

Antti Autere & Johannes Lehtinen

Abstract

A Multiresolution A Method for Robot Path Planning Antti Autere, Johannes Lehtinen Department of Computer Science, Helsinki University of Technology, Otakaari 1 M, SF-02150 Espoo, Finland EMail: aau@cs.hut., jle@cs.hut. Abstract In this paper, a point-to-point robot path planning problem is studied. It occurs in industry for example in spot welding, riveting, and pick and place tasks. A new A -based method is presented. The algorithm searches the robot's conguration space with many dierent resolutions at the same time. When a path candidate goes far from the obstacles, coarser resolutions correspond- ing to bigger step sizes is used. When it goes near the obstacle surfaces, ner resolutions corresponding to smaller step sizes is used. The algorithm always nds a path from a starting robot conguration to the goal conguration if one exists, which is a property of the A search in general. This is true given the nest resolution of the search space. These kind of path planning algorithm

Keywords