PATH PLANNING BY MULTIHEURISTIC SEARCH VIA SUBGOALS

An efficient path planning algorithm for general 6 degrees of freedom robots is presented in the paper. The path planner is based on multiheuristic A search algorithm with dynamic subgoal generation for rapid escaping from deep local-minimum wells. The algorithm has been implemented as an extension to a robot off-line programming and simulation system for testing. The presented test results demonstrate that the algorithm is practically applicable to path planning for devices of different kinematic structure.

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