Graph algorithms and NP-completeness
Graph algorithms and NP-completeness
Path planning in 0/1/ weighted regions with applications
SCG '88 Proceedings of the fourth annual symposium on Computational geometry
An efficient algorithm for link-distance problems
SCG '89 Proceedings of the fifth annual symposium on Computational geometry
Generation of configuration space obstacles: moving algebraic surfaces
International Journal of Robotics Research
Minimum-link paths among obstacles in the plane
SCG '90 Proceedings of the sixth annual symposium on Computational geometry
The Design and Analysis of Computer Algorithms
The Design and Analysis of Computer Algorithms
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This paper treats the path finding problem for robots whose joints cannot be controlled in such a way that the end-effector follows a prespecified trajectory. Hence, if two or more joints are moving at the same time during the motion, the relative positions for the joints, i.e. the exact positions of the end-effector, are not known. This may be due to the low level control of the robot (for example, with heavy load robots), or due to a complicated kinematic structure. For such mechanisms a motion is specified by certain intermediate positions (values for all joints) along a desired path. These intermediate positions (‘synchronization points’) and the requirement that the motions in the single joints are monotonous between consecutive synchronization points guarantee a certain structure of a path. We develop a new algorithm that determines paths for such mechanisms, i.e., a respective sequence of intermediate positions, such that the path is collision free and is shortest with respect to different optimality criteria.