A comparison of algorithms for path planning of industrial robots

Abstract

In this paper, the path planning problem for industrial robots in environments with obstacles has been solved using four algorithms that implement different methodologies. Our objective is to analyze the characteristics of these algorithms. Consequently, the results (solutions) obtained with each of them are compared through the analysis of three operational parameters that are relevant to determine the qualities of the solutions. These parameters are: the computational time, the distance travelled by the robot and the number of generated configurations. One of the algorithms can be catalogued as indirect and the other three are variations of a direct method. The four algorithms have been applied to a robot type PUMA 560. © Springer Science+Business Media B.V. 2009.