Rapid path planning for robotic manipulators using an emulated resistive grid

The proposed update technique for computer emulated resistive grids propagates the node activities to and fro, thereby generating within only a few sweeps a well-spread potential distribution suitable for performing a gradient search for path planning in configuration space. The typical shapes of the forbidden areas in the manipulator´s configuration space make this technique particularly fast. Tests with a real manipulator confirmed the validity of the approach