Deterministic path planning for planar assemblies
Elisha P. Sacks · 2002
I present a deterministic path planning algorithm for an assembly of rigid planar parts connected by joints. The part boundaries are comprised of line segments and circular arcs. The algorithm is based on configuration space computation and search. It is complete for one moving part and is heuristic for multiple parts. It is the first complete algorithm that is practical for real-world applications. It is more reliable than randomized algorithms, which are inherently incomplete. It solves problems with many parts, crowded environments, tight part fits, and closed chains.