Parallel RRT-based path planning for selective disassembly planning

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• 作者：Iker Aguinaga ; Diego Borro and Luis Matey
• 关键词：Disassembly path planning ; Selective disassembly ; Disassembly planning ; Rapid ; growing random trees
• 刊名：The International Journal of Advanced Manufacturing Technology
• 出版年：2008
• 出版时间：April, 2008
• 年：2008
• 卷：36
• 期：11-12
• 页码：1221-1233
• 全文大小：489.8 KB

文摘

The planning of disassembly sequences requires the identification of the extraction trajectories of the different parts or assemblies. The failure to find these trajectories can make a planner fail to generate correct sequences or not evaluate potential solutions. In this paper, we analyze the disassembly path-planning problem, its relation to the general path-planning problem and the main differences between both of them, such as the lack of a target configuration. We present a modification of the rapid-growing random tree-based algorithm (RRT) that addresses these differences. RRTs are easily parallelized so we analyze two different parallelization methods using dual-core-based CPUs as well as the impact of the target selection probability of the algorithm in execution time. The method described is applied to several real-world and synthetic examples.