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

@article{Valero1996AFF,
  title={A formulation for path planning of manipulators in complex environments by using adjacent configurations},
  author={Francisco Valero and Vicente Mata and Juan I. Cuadrado and Marco Ceccarelli},
  journal={Advanced Robotics},
  year={1996},
  volume={11},
  pages={33-56}
}
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… CONTINUE READING
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