Obstacle avoidance with brake points by invasion and escape avoiding virtual stakes

In this paper, it is assumed that a robot arm with two links, works to carry out a rescue from a hole in an environment with some obstacles, and their coordinate values are known. The robot must escape to a safe domain so as not to collide with the obstacles. Virtual stakes are arranged around the neighborhood of the obstacles with complicated figures in order to facilitate the computation of distance from the obstacles to the robot. Then, the computation method of distance between the stakes and the robot considering the figure of the body is presented by applying the method developed ahead in a normal space. Moreover, a trap escape method with a geometric algorithm in which the robot arm escapes to a safe domain is proposed by operating the two-links in each other and in reverse directions. The trap escape method used was confirmed to have a good result by simulation.