Using O<scp>X</scp>S<scp>IM</scp>for path planning

Abstract

Abstract We address the issue of building scalable and reusable path planners for realistic robot manipulators working in three‐dimensional space amid complex geometry, by presenting the latest version of our robot manipulator planning toolbox, O x S IM . O x S IM is designed to greatly simplify the building of planners by providing core competence in three‐dimensional geometry. This is done by the provision of efficient routines for computing the distance between parts of the robot and its environment. A new version of O X S IM , written in C++, provides an object‐oriented interface to the basic system, which increases its ease of use. Here we give an overview of O x S IM and how it works and describe a modified version of the probabilistic road map planner that we have implemented under the framework. © 2001 John Wiley &amp; Sons, Inc.