Abstract of FKI-192-94

Document-Name:  fki-192-94.ps.Z
Title:          Path Planning for Six-Joint  Manipulators 
                by Generalization from Example Paths
Authors:        Margit Kinder ,
                Till Brychcy 
Revision-Date:  1994/05/02
Category:       Technical Report (Forschungsberichte Künstliche Intelligenz)
Abstract:       This paper presents a novel kind of generalizing neural storage
                tailored for the problem of global motion planning for 
                six-joint manipulators in complex, changing environments.  
                Paths are stored in a growing map of neurons with adaptive 
                ellipsoidal receptive field, called the {\em Ellipsoidal Map}.
                Path planning is based on finding the best-matching neurons
                for start and goal and a graph search in the neurons' 
                connectivity graph, which gets adapted to the topology of free
                space. The Ellipsoidal Map remains adaptive all the time: 
                Paths can always be stored and information about collision in 
                planned paths, which occur in particular due to changes of the
                environment, lead always to corrections of the map.  An 
                application to a simulation of the Rotex robot with six 
                degrees of freedom demonstrates highly satisfactory planning 
                skills. 
Keywords:       ellipsoidal maps, graph of free space, generalizing storage,
                6-joint manipulator, robot, path planning
Size:           8 pages
Language:       English
ISSN:           0941-6358
Copyright:      The ``Forschungsberichte Künstliche Intelligenz''
                series includes primarily preliminary publications,
                specialized partial results, and supplementary
                material. In the interest of a subsequent final
                publication these reports should not be copied. All
                rights and the responsability for the contents of the
                report are with the authors, which would appreciate
                critical comments.

Gerhard Weiss