Using the Polynomial Approximation Algorithm in the Algorithm 2 for Manipulator's Control in an Unknown Environment
نویسندگان
چکیده
The Algorithm2 for a n-link manipulator movement amidst arbitrary unknown static obstacles for a case when a sensor system supplies information about local neighborhoods of different points in the configuration space is presented. The Algorithm2 guarantees the reaching of a target position in a finite number of steps. The Algorithm2 is reduced to a finite number of calls of a subroutine for planning a trajectory in the presence of known forbidden states. The polynomial approximation algorithm which is used as the subroutine is presented. The results of the Algorithm2 implementation are given. Keywords—Manipulator, trajectory planning, unknown obstacles.
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