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Rapid path planning for robotic manipulators using an emulated resistive grid

Rapid path planning for robotic manipulators using an emulated resistive grid

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The proposed update technique for computer emulated resistive grids propagates the node activities to and fro, thereby generating within only a few sweeps a well-spread potential distribution suitable for performing a gradient search for path planning in configuration space. The typical shapes of the forbidden areas in the manipulator's configuration space make this technique particularly fast. Tests with a real manipulator confirmed the validity of the approach.


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