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

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2 Author(s)
Helguera, C. ; Lab. de Mecanique des Solides, Poitiers Univ., France ; Zeghloul, S.

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

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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