Planning collision-free movements of a robot: A systems theory approach

1 October 1988

journal article
research article
Published by Cambridge University Press (CUP) in Robotica

Vol. 6 (4) , 289-296
https://doi.org/10.1017/s0263574700004641

Abstract

SUMMARY In the paper we present system-theoretic descriptions of the robot's kinematics models, in a discrete and discretized workspace. For those descriptions, the problem of planning collision-free trajectories of motion is stated and represented as a classical problem of optimizing the behaviour of dynamical system.

Keywords

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