Path Planning with obstacle avoidanceThe research report here summarizes a solution for two dimensional Path Planning with obstacle avoidance in a workspace with stationary obstacles. The solution finds the shortest path for the end effector of a manipulator arm. The program uses an overhead image of the robot work space and the starting and ending positions of the manipulator arm end effector to generate a search graph which is used to find the shortest path through the work area. The solution was originally implemented in VAX Pascal, but was later converted to VAX C.
Document ID
19870054920
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Krause, Donald M. (South Florida, University Tampa, FL, United States)