Minimum time robot path planning in the presence of obstacles
Daniel Johnson, Elmer G. Gilbert · 1985
An approach to minimum time robotic path planning in the presence of obstacles is given. It is formulated in an optimal control context with obstacle avoidance expressed in terms of the distances between potentially colliding parts. Procedures for computing the distances between general part shapes in three-dimensional space are discussed. Numerical examples involving manipulators operating in two and three-dimensional workspaces are described.