Online motion planning using critical point graphs in two-dimensional configuration space

An online motion planning algorithm in 2D configuration space is presented for right-handed manipulators. Critical points on the boundaries of obstacles in configuration space are identified. A graph is constructed using simple wall-following to determine connections between the critical points. Motion between connected critical points may be executed through the definition of potential functions and critical point subgoals without encountering local minima. The planning problem was solved by modifying line-of-sight and wall-following algorithms to resort to the critical point graph in finding exit points to goal locations. The results was extremely fast plan generation, which has been crucial in achieving online 3D planning