Abstract
Motion planning with a high number of degrees of freedom (DOF) is computationally demanding. Coupled AUV-manipulators are an example where there can be as many as 14 DOF in a typical dual-arm configuration attached to an underwater vehicle exhibiting 6 DOF motion. In an underwater environment, autonomous vehicles are required to plan motion on-line, a non-trivial task for coupled AUV-manipulators. This paper examines the computational requirements of high DOF systems and presents a technique which allows fast execution of motion plans. This technique is implemented using distributed search in a 'local' motion planning context. Distributed search is achieved through the execution of a number of subsearches in parallel, where each subsearch contains a unique subset of the DOFs in the system. It will be shown how the use of this technique increases the effectiveness of the local motion planning methodology, allowing fast execution of motion plans for systems with a high number of degrees of freedom.
| Original language | English |
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| Title of host publication | Proceedings of the 1994 IEEE Symposium on Autonomous Underwater Vehicle Technology; Cambridge, MA, USA; ; 19 July 1994 through 20 July 1994 |
| Pages | 255-262 |
| Number of pages | 8 |
| Publication status | Published - 1994 |
| Event | IEEE Sympsium on Autonomous Underwater Vehicle Technology 1994 - Cambridge, MA, USA Duration: 19 Jul 1994 → 20 Jul 1994 |
Conference
| Conference | IEEE Sympsium on Autonomous Underwater Vehicle Technology 1994 |
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| City | Cambridge, MA, USA |
| Period | 19/07/94 → 20/07/94 |