A Simple Motion Planning Algorithm for General Robot Manipulators
Abstract
Abstrct-A simple and efficient algorithm is presented, using configuration space, to plan collision-free motions for general manipulators. An implementation of the algorithm for manipulators made up of revolute joints is also presented. The configuration-space obstacles for an n degree-of-freedom manipulator are approximated by sets of n- 1-dimensional slices, recursively built up from one-dimensional slices. This obstacle representation leads to an efficient approximation of the free space outside of the configuration-space obstacles. T I.
Cite
Text
Lozano-Pérez. "A Simple Motion Planning Algorithm for General Robot Manipulators." AAAI Conference on Artificial Intelligence, 1986.Markdown
[Lozano-Pérez. "A Simple Motion Planning Algorithm for General Robot Manipulators." AAAI Conference on Artificial Intelligence, 1986.](https://mlanthology.org/aaai/1986/lozanoperez1986aaai-simple/)BibTeX
@inproceedings{lozanoperez1986aaai-simple,
title = {{A Simple Motion Planning Algorithm for General Robot Manipulators}},
author = {Lozano-Pérez, Tomás},
booktitle = {AAAI Conference on Artificial Intelligence},
year = {1986},
pages = {626-631},
url = {https://mlanthology.org/aaai/1986/lozanoperez1986aaai-simple/}
}