Calculation of optimal paths in the configuration space using artificial potential fields and a* and d* algorithms for an articulated robot. Comparison of techniques
نویسندگان
چکیده
In this paper, we use a calculation path technique based on the configuration space in the case of an articulated robot of two degrees of freedom. We propose the use of artificial potential fields to represent the configuration space and the use of techniques of artificial intelligence like A* and D* to search a free collision path into the configuration space. This combination of techniques can be used in static and dynamic environments with more than three dimensions without considering the geometry of the obstacles. The results for this combination of techniques are presented, choosing in each case the best option for each one of the techniques for the combination.
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