Path Planning For Manipulator Robots In Cluttered Environments

In this paper we propose a new path planning method for a robot manipulator in a cluttered static environment, based on lazy grid sampling. Grid cells are built while searching for the path to the goal configuration. The proposed planner acts in two modes. A depth mode while the robot is far from obstacles makes it evolve toward its goal. Then a width search mode becomes active when the robot gets close to an obstacle, and it ensures the shortest path to go around an obstacle. This method reduces the gap between pre-computed grid methods and lazy grid methods. No heuristic function is needed to guide the search process. An example dealing with a robot in a cluttered environment is presented to show the efficiency of the method. Key-Words: Path Planning – Manipulators – Lazy grid