GRIPP: GeneRic Iterative Path Planner
(Boyer, Larochelle)
This path planning software is primarily based on the algorithms
developed
by Kamal Kant Gupta and Zhenping Guo as presented in "Motion Planning
for
Many Degrees of Freedom: Sequential Search Algorithm with
Backtracking",
IEEE Trans. Robotics and Automation, vol. 11, no. 6, December 1995. For
a
manipulator having N degrees-of-freedom, typical path planners require
the
computation of and search through an N dimensional configuration space.
The method used by Gupta and Guo reduces the complexity of the search
by
planning the entire motion from start to goal of each individual link
separately starting from the base link. The basic concept is to only
plan
the free end of each link since the path of the base end is determined
by
attachement to the previous link. This changes the planning problem to
1
one-dimensional (base link) search and N-1 two-dimensional searches.
The program requires the user to specify the manipulator configuration,
workspace configuration, and path requirements in 3 separate data
files. The data files to be used during execution are identified in the
GRIPP
configuration file allowing previously defined manipulators and
workspaces
to be mixed and matched as necessary. GRIPPv1.0 runs on UNIX platforms
such as IRIX(SGI) and SOLARIS(SUN).
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Written by: PML 5/27/2004
