A survey of motion planning and related geometric algorithms
Artificial Intelligence - Special issue on geometric reasoning
Generation of configuration space obstacles: moving algebraic surfaces
International Journal of Robotics Research
International Journal of Robotics Research
Information Processing Letters
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
Robot path planning in the configuration space with automatic obstacle transformation
Cybernetics and Systems - Special issue: Eurocast 1991 international workshop on computer aided systems theory
Fast computation of the C-space of convex 2D algebraic objects
International Journal of Robotics Research
Mathematical formalism for the fast evaluation of the configuration space
CIRA '97 Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Journal of Intelligent and Robotic Systems
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
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Collision-free path planning for static robots is a demanding manifold of contemporary robotics research, vastly due to the growing industrial applications. In this paper, a novel ‘visibility map’-based heuristic algorithm is used to generate near-optimal safe path for a three-dimensional congested robot workspace. The final path is obtainable in terms of joint configurations, by considering the Configuration Space of the task space. The developed algorithm has been verified initially by considering representative 2D workspaces, cluttered with different obstacles with regular geometries and then after with the spatial endeavour. A case study reveals the effectiveness of the developed modules of the configuration space mapping, pertaining to a five degrees-of-freedom low payload articulated robot.