A local-based method for manipulators path planning in heavy cluttered environments

A collision-free path planner for manipulators based on a local approach is proposed. The task is defined as a combination of two displacements: the first one brings the robot closer to the goal configuration; and the second one enables the robot to avoid the local minima. This method solves many of classical problems found in the potential field methods. However, a zig-zaging phenomenon appears in some heavy cluttered environments. To avoid this situation, a graph based on the local geometry of the environment is constructed and an A* search is performed in order to find a new dead-lock free position. Tests in heavy cluttered environments were successfully performed.