Abstract
SUMMARYMany 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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
