Collision avoidance planning of manipulator based on C-space layered search arithmetic

This paper produces a C-space layered search arithmetic for a typical of manipulators with vertical multi-joint in series. The work divides the C space into many layers based on the dimension, and implements the rapid creation of C-space grid map on each layer. After generating the C-space grid map of the first layer, the system searches and produces the C-space grid map of next layer. There is no need for the system to know the entire C-space. This arithmetic avoids the great amount of the calculation and the large demand of the memory space of C-space grid map caused by the dimensions explosion of the multi-joint manipulator, makes sure that the searching processing be quick and complete.