Samir Lahouar

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An efficient path planning algorithm, for multi degrees of freedom manipulator robots in dynamic environments, is presented in this paper. The proposed method is based on a local planner and a boundary following method for rapid solution finding. The local planner is replaced by the boundary following method whenever the robot gets stuck in a local minimum.(More)
In this paper we propose a new path planning method for a robot manipulator in a cluttered static environment, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode while the robot is far from obstacles makes it evolve toward its goal. Then a width(More)
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