A CELL DECOMPOSITION-BASED COLLISION AVOIDANCE ALGORITHM FOR ROBOT MANIPULATORS

摘要

This paper presents a method for solving the path planning problem for multiple robot manipulators. The technique allows manipulators to move from a specified starting point to a goal without colliding with any other manipulators or objects in their three-dimensional environment. Approximate cell decomposition with a greedy depth-first search algorithm is used to guide the end effector through Cartesian space, and genetic algorithms are used to solve the inverse kinematics for the robot manipulators.