ROBOT PATH PLANNING IN THE CONFIGURATION SPACE WITH AUTOMATIC OBSTACLE TRANSFORMATION

摘要

Abstract A method of solving the problem of finding the set of movements that allows a robot to go from a starting to an ending position while avoiding obstacles consists of using a path searcher in the configuration space. In order to achieve this, the complete space is divided into two disjoint subspaces. One of the two, the forbidden space, contains all the configurations leading to collisions; the other, the free space, contains all the configurations avoiding obstacles. The problem to be considered now is finding a path in the free subspace to maximize an optimal criterion. The generation of the free space is difficult to solve, and it is usually handled in an approximate way to permit an analytical treatment. Here we present a method of automatically generating the configuration set corresponding to an obstacle. The system is complemented by a path finder based on an algorithm of heuristic searching of solutions in state spaces.