Collision-free trajectory planning for manipulators using generalized pattern search
Atef A. Ata · International Journal of Simulation Modelling · 2006
A Generalized Pattern Search algorithm (GPS) is introduced to design a collision-free trajectory for planar redundant manipulators.Cubic-spline interpolation trajectory for the endeffector is designed a priori by selecting three intermediate points around the workspace obstacles.The GPS algorithm ensures that none of the selected points lies inside any of the obstacles.The end-effector will follow the prescribed trajectory in excellent manner without colliding with the obstacles.Simulation studies are carried out for three different obstacles to prove the validity of the proposed algorithm.