"A Parallel Processor for Robot Route Planning",
C.M. Witkowski
Proc. 8th Int. Joint Conf. on Artificial Intelligence (IJCAI), Karlsruhe, West Germany, 8-12 August 1983, pp. 827-829
ABSTRACT
This paper presents a fast, uniform, parallel search algorithm for robot route planning and obstacle avoidance. The algorithm is equally applicable to real or synthetic data and overcomes many problems associated with other route finding methods. The time taken to generate a path through an arbitrarily complex environment has been reduced to an insignificant fraction of the time taken for the robot to traverse the route. Furthermore the time taken to create the route is independent of environmental complexity and only linearly proportional to route length. Actual results and timings from running the algorithm on the ICL Distributed Array Processor and executing the resultant path on a mobile robot are presented.