Practical Motion Planning in Robotics: Current Approaches and Future Directions

Abstract

From the Publisher: Robot motion planning deals with the ability of robots to plot their own collision-free motion. Recent research emphasis has been focused on developing practical motion planners for real manipulator arms with direct industrial relevance. This book concentrates on practical aspects of motion planning for real manipulator arms and is intended to narrow the gap between research and practice. Taking a comprehensive look at the motion-planning problem the work describes algorithms for obstacle identification and avoidance, collision avoidance, path planning.