Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
A search algorithm for motion planning with six degrees of freedom
Artificial Intelligence
Planning, geometry, and complexity of robot motion
Planning, geometry, and complexity of robot motion
The complexity of robot motion planning
The complexity of robot motion planning
Robot motion planning: a distributed representation approach
International Journal of Robotics Research
Randomized query processing in robot path planning
STOC '95 Proceedings of the twenty-seventh annual ACM symposium on Theory of computing
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Robot Motion Planning
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Retraction: A new approach to motion-planning
STOC '83 Proceedings of the fifteenth annual ACM symposium on Theory of computing
A variational approach to path planning in three dimensions using level set methods
Journal of Computational Physics
A Neural Network Adaptive Controller for End-effector Tracking of Redundant Robot Manipulators
Journal of Intelligent and Robotic Systems
Spatial Planning: A Configuration Space Approach
IEEE Transactions on Computers
A variational approach to path planning for hyper-redundant manipulators
Robotics and Autonomous Systems
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This paper proposes a path planner for serial manipulators with a large number of degrees of freedom, working in cluttered workspaces. Based on the variational principles, this approach involves formulating the path planning problem as constrained minimization of a functional representing the total joint movement over the complete path. We use modified boundary conditions at both ends of the trajectory to find more suitable start and end configurations. The concept of monotonic optimality is introduced in order to optimize the manipulator paths between the resulting end configurations. For obstacle avoidance, volume and proximity based penalizing schemes are developed and used. The presented planner uses a global approach to search for feasible paths and at the same time involves no pre-processing task. A variety of test cases have been presented to establish the efficacy of the presented scheme in providing good quality paths. The extent of advantage accruing out of the measures of free end-configurations and monotonic optimality are also analyzed quantitatively.