A real-time motion planning algorithm for a hyper-redundant set of mechanisms

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space C. Our algorithm differs from a Probabilistic Road Map algorithm (PRM) in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace O. We define a varying potential field f on ∂O as a Morse function and follow ~ ∇f . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of PRM.