• Corpus ID: 28669781

Comparative Study of Potential Field and Sampling Algorithms for Manipulator Obstacle Avoidance

  title={Comparative Study of Potential Field and Sampling Algorithms for Manipulator Obstacle Avoidance},
  author={Alekh and E. S. Rahul and Rao R. Bhavani},
  journal={Control theory \& applications},
Industrial robots should be implemented with proper path planning to generate a trajectory which ensures obstacle avoidance and collision free movement. Selection of a path planning techniques need to be done only after detailed studies. This paper deals with the study and implementation of a path planning technique using potential fi eld method for a 2R robot in a given workspace with obstacles. The results are compared with Open Motion Planning Library (OMPL)which uses sampling based path… 

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