Collision-free paths generation for robots in an obstacle-strewn environment

The development of the robots in the future is expected to have the ability as human beings or even better. One of the key points to achieve the expectation is to enable the robots to autonomously avoided collision among surrounding obstacles. In this paper, an efficient method to plan a collision-free path for an articulated type of robots surrounding by hanging and standing polyhedral objects is developed. The algorithm uses geometry theory to fast determine collision-free paths.<>