Rapid path planning for robotic manipulators usinganemulated resistive grid

Abstract

The proposed update technique for computer emulated resistive grids propagates the node activities to and fro, thereby generating within only a few sweeps a well-spread potential distribution suitable for performing a gradient search for path planning in configuration space. The typical shapes of the forbidden areas in the manipulator's configuration space make this technique particularly fast. Tests with a real manipulator confirmed the validity of the approach.