VISIBILITY GRAPH-BASED SPATIAL PATH PLANNING OF ROBOTS USING CONFIGURATION SPACE ALGORITHMS

摘要

Collision-free path planning in 3D space is a potential field of robotics research, especially in the perspective of today's industrial scenario. In this paper, the celebrated method, namely, "Visibility Map" is invoked to generate feasible near-optimal safe path(s) for a 3D congested robot workspace using heuristic algorithms. The final path is obtainable in terms of joint configurations, by considering the configuration space of the task-space. Besides algorithmic verification, a case study reveals the effectiveness of the heuristics involved in the developed algorithms, pertaining to a six degrees-of-freedom articulated manipulator.