Path planning and the geometry of joint space obstacles
W. Weston Meyer, P. Benedict · 2003
The utilization of geometric characteristics of configuration-space obstacle to do path planning is considered. Specifically, for a two-link arm it is shown how and when to select intermediate goals for path planning. An implementation of a path planner based on these ideas is sketched. However, many path planners, especially ones designed for parallel machines, can make use of computed intermediate goals.>