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Using the Polynomial Approximation Algorithm in the Algorithm 2 for Manipulator's Control in an Unknown Environment

Authors: Pavel K. Lopatin, Artyom S. Yegorov


The Algorithm 2 for a n-link manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm 2 guarantees the reaching of a target position in a finite number of steps. The Algorithm 2 is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the Algorithm2 implementation are given.

Keywords: Trajectory Planning, manipulator, unknown obstacles

Digital Object Identifier (DOI):

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