Efficient Motion Planning in High Dimensional Spaces: The Parallelized Z^3-Method

We present a method to plan collision free paths for manipulators with any number of degrees of freedom The method is very e cient as it ommits a complete representa tion of the high dimensional search space Its complexity is linear in the number of degrees of freedom A preprocessing of the geometry data of the robot or the environment is not required In the planning process several more or less independent partial tasks of di errent complexity can be identi ed thus allowing to parallelize the algorithm in several ways to increase the e ciency towards real time operation in most practical cases This paper gives an overview of our recent concepts and implementations

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