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Parallel RRT-based path planning for selective disassembly planning

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Abstract

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.

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Authors and Affiliations

  1. CEIT and TECNUN, Paseo Manuel de Lardizabal 15, 20018, San Sebastian, Spain

    Iker Aguinaga, Diego Borro & Luis Matey

Authors
  1. Iker Aguinaga
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  2. Diego Borro
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  3. Luis Matey
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Correspondence to Iker Aguinaga.

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Aguinaga, I., Borro, D. & Matey, L. Parallel RRT-based path planning for selective disassembly planning. Int J Adv Manuf Technol 36, 1221–1233 (2008). https://doi.org/10.1007/s00170-007-0930-2

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  • DOI: https://doi.org/10.1007/s00170-007-0930-2

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