Path planning: an approach based on connecting all the minimizers and maximizers of a potential function
نویسندگان
چکیده
A n improved otential-based method for robot path planning is devegped by connecting all the local minima and local mazima ofthe potential function defined in fhe configurntion space ofthe robot. The method i s based on the stability theory of dynamical systems. The usefulness ofthe method is demonstrated on a two dimensional piano mover’s problem with three degrees offreedom.
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