A formulation for path planning of manipulators in complex environments by using adjacent configurations

摘要

The problem of robot path planning among obstacles has been approached by formulating robot configurations by means of a suitable fully Cartesian coordinate description. Thus, an analytical expression has been found for adjacent configurations, which is useful in deducing an optimization formulation for the collision-free path problem. An algorithm is proposed to solve the problem of finding a feasible path to be followed to an end point by a robot between given start and end points in space.