Multi-directional search with goal switching for robot path planning

  • Dominik Henrich
  • Christian Wurll
  • Heinz Wörn
1 Synthesis Tasks Motion Planning for Robots
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1416)


We present a parallel path planning method that is able to automatically handle multiple goal configurations as input. There are two basic approaches, goal switching and bi-directional search, which are combined in the end. Goal switching dynamically selects a favourite goal depending on some distance function. The bi-directional search supports the backward search direction from the goal to the start configuration, which is probably faster. The multi-directional search with goal switching combines the advantages of goal switching and bi-directional search. Altogether, the planning system is enabled to select one of the preferable goal configuration by itself. All concepts are experimentally validated for a set of benchmark problems consisting of an industrial robot arm with six degrees of freedom in a 3D environment.


path planning graph search bi-directional search industrial robots parallel processing 


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Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • Dominik Henrich
    • 1
  • Christian Wurll
    • 1
  • Heinz Wörn
    • 1
  1. 1.Institute for Process Control and Robotics (IPR), Computer Science DepartmentUniversity of KarlsruheKarlsruheGermany

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