Improved C-Space Exploration and Path Planning for Robotic Manipulators Using Distance Information
Bakir Lacevic,Dinko Osmankovic,Bakir Lacevic,Dinko Osmankovic
We present a simple method to quickly explore C-spaces of robotic manipulators and thus facilitate path planning. The method is based on a novel geometrical structure called generalized bur. It is a star-like tree, rooted at a given point in free C-space, with an arbitrary number of guaranteed collision-free edges computed using distance information from the workspace and simple forward kinematics...
