Author(s)

Antti Autere & Johannes Lehtinen

Abstract

Admissible heuristics for robot motion planning using A algorithm 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 This paper studies a point to point motion planning problem of robot ma- nipulators. The problem occurs in industry in many places, for example in pick and place tasks, spot welding and riveting. The motion planner uses the A search method in the robot's joint (con- guration) space. The \base level" heuristic is the Manhattan distance between the robot's present joint values and the goal's joint values. In addition to this we generate new admissible heuristics by solving simplied or relaxed motion planning problems in the robot's work space and in the subspace of its conguration space. We provide three test cases, one for a three-degree-of-freedom, and two for a 6 DOF robot manipulator to study how eective the new heuristics are compared to the

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