Key Elements for Motion Planning Algorithms
Antonio Benítez, Ignacio Huitzil, Daniel Vallejo, Jorge de la Calleja, Ma. Auxilio · InTech eBooks · 2010
Planning a collision-free path for a rigid or articulated robot to move from an initial to a final configuration in a static environment is a central problem in robotics and has been extensively addressed over the last. The complexity of the problem is NP-hard (Latombe, 1991). There exist several family sets of variations of the basic problem, that consider flexible robots, and where robots can modify the environment. The problem is well known in other domains, such as planning for graphics and simulation (Koga et al., 1994), planning for virtual prototyping (Chang & Li, 1995), and planning for medical (Tombropoulos et al., 1999) and pharmaceutical (Finn & Kavraki, 1999) applications.