Motion Planning for Planar Robots in an Obstacle-Strewn Environment

Algorithms will be presented for planning the motion of planar manipulators in an obstacle-strewn environment. Obstacles are modeled by concave/convex polygons and are randomly distributed. The algorithms provide each of the manipulators with the capability of, firstly, determining whether the motion is possible or not. Secondly, if the motion is possible, a path will be generated autonomously. Finally, the whole manipulator articulates along the path to avoid the interference with any of the obstacles and other manipulators.