A Penalty Function Method for Constrained Motion Planning

  title={A Penalty Function Method for Constrained Motion Planning},
  author={J{\'e}r{\^o}me Barraquand and Pierre Ferbach},
The path planning problem, i.e. the geometrical problem of finding a collision-free path between two given configurations of a robot moving among obstacles, has been studied by many authors in recent years. The interest in co strained motion planning is more recent. Constrained motion planning consists in finding motion sequences for robotic systems whose free space in not an open subset of the configuration space. In particular, manipulation planning is an important instance of the general… CONTINUE READING
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