Collision-free path generation for robot arm in 3D

The problem of avoiding collision with obstacles is essential in robotics. Generation of a collision-free path from a specified source point to a goal point in 2D can be successfully solved by using the visibility graph method. But in the case of 3D, it is difficult due to its heavy computation. Based on the concepts of go-over-obstacle and go-round-obstacle and a storied structure, a simple algorithm for generating a collision-free path in 3D, which reduces the computational complexity to a large extent, is presented.<
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