A tangent based method for robot path planning

Abstract

This paper presents a new method of path planning for robot manipulators. It is a local roadmap method that is based on the tangent graph in configuration space. The graph is constructed incrementally as the search progresses, removing the pre-processing overhead of other methods; also, a heuristic is used to minimise the number of tangents generated. The technique is demonstrated by a simulation for a three-link planar manipulator.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>