A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms

A Novel Collision-Free Homotopy Path Planning for Planar Robotic Arms

Achieving the smart motion of any autonomous or semi-autonomous robot requires an efficient algorithm to determine a feasible collision-free path. In this paper, a novel collision-free path homotopy-based path-planning algorithm applied to planar robotic arms is presented. The algorithm utilizes hom...

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Bibliographic Details
Main Authors: Gerardo C. Velez-Lopez, Hector Vazquez-Leal, Luis Hernandez-Martinez, Arturo Sarmiento-Reyes, Gerardo Diaz-Arango, Jesus Huerta-Chua, Hector D. Rico-Aniles, Victor M. Jimenez-Fernandez
Format: Article
Language:English
Published: MDPI AG 2022-05-01
Series:Sensors
Subjects:
collision-free path planning
autonomous robot
robot arm
homotopy continuation methods
Online Access:https://www.mdpi.com/1424-8220/22/11/4022

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