Using the forward search and the polynomial approximation algorithms in the exact algorithm for manipulator´s control in an unknown environment

Using the forward search and the polynomial approximation algorithms as a subroutine in the exact algorithm for manipulator´s control in an unknown environment is presented. The exact algorithm is reduced to a finite number of calls of the subroutine for planning a trajectory in the presence of known forbidden states. The exact algorithm guarantees reaching a target position in a finite number of steps in the presence of unknown obstacles which may have arbitrary disposition, shapes and dimensions. The results of using the algorithms as the subroutine are discussed