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A tangent based method for robot path planning

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2 Author(s)
Doyle, A.B. ; Sch. of Electron. Eng. and Comp. Syst., Univ. of Wales, Bangor, UK ; Jones, D.I.

This paper presents a new method of path planning for robot manipulators. It is a local roadmap method that is based on the tangent graph in configuration space. The graph is constructed incrementally as the search progresses, removing the pre-processing overhead of other methods; also, a heuristic is used to minimise the number of tangents generated. The technique is demonstrated by a simulation for a three-link planar manipulator

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994