科研之友
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摘要
This study proposed a novel path-planning method for multilink manipulators along the shortest path against obstacles in the plane including three steps. First, the shortest path from the source to the destination is calculated without considering obstacles. Second, whether the optimal path crosses obstacles or not. Finally, a new turning point with shortest path to the collided point and let a new path across this collided point. The shortest path is calculated repeatly until that path does not encounter any obstacle. The proposed greedy algorithm reduces time complexity and information size, and shows good effectiveness for the path planning problem.
- 出版日期2012-5
