Paper Info
Title
Parallel path planning on the distributed array processor
Abstract
An approach to the path planning problem is presented in which a distributed representation of the workspace is used, and related to it, parallel processing techniques are presented to search the world model. The representation, which is based on configuration space and can be computed in parallel, naturally captures the real world geometry. The search is based on a cellular automaton and diffuses strengths from the goal to find the shortest path. The approach can be extended to deal with rotational as well as translational motions. Paths can be found at different resolutions of the workspace. It also has the useful property that the complexity of the search is almost constant with varying degrees of environmental clutter.
Year
DOI
Venue
1995
10.1016/0167-8191(96)80006-8
Parallel Computing
Keywords
Field
DocType
robotics,simd machines,distributed representation,path planning,parallel path planning,array processor,configuration space,shortest path,cellular automaton,parallel processing
Motion planning,Cellular automaton,Any-angle path planning,Shortest path problem,Workspace,Clutter,Computer science,Parallel computing,Theoretical computer science,Artificial intelligence,Robotics,Configuration space
Journal
Volume
Issue
ISSN
21
11
Parallel Computing
Citations 
PageRank 
References 
5
0.67
10
Authors
2
Name
Order
Citations
PageRank
Chang Shu1677.61
Hilary Buxton2491135.93