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
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Obstacle avoidance and subsequently collision-free path planning is a potential field of robotics research, specially in the perspective of today's industrial scenario. In this paper, the celebrated method, namely, Visibility Map is being used to generate feasible collision-free near-optimal safe path(s) for a three- dimensional congested robot workspace using heuristic algorithms. The final path is obtainable in terms of joint configurations, by considering the Configuration Space of the task-space. The developed algorithms have been verified by considering typical 2D workspaces at the onset, cluttered with different obstacles (convex and/or concave) with regular geometries and later on, with the real spatial manifold. The outcome of these algorithms has been found instrumental in programming an industrial robot in order to perform a series of task in the shop-floor. A case-study reveals the effectiveness of the heuristics involved in the developed algorithms, by virtue of the successful application in an unstructured industrial environment to carry out robotized material handling operation in real-time.