A Simple Motion Planning Algorithm for General Robot Manipulators

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 1dimensional 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.