A Novel Collision-Free Path Planning Modeling and Simulation Methodology for Robotical Arms Using Resistive Grids

Abstract

SUMMARYPath planning represents planning collision-free strategies to move from starting point to ending point. These strategies can be carried out for known and unknown environments. Recently, a novel and reduced CPU-time modeling and simulation methodology for path planning in known environment based on resistive grids (RGs) has been introduced. In this work, a novel modified version of Resistive Grid Path Planning Methodology (RGPPM) methodology is presented with the purpose of exploring collision-free path planning for robotic arms. This extension of the methodology allows to numerically relate positions in the RG with angular values of the robotic systems. In addition, it is possible to include obstacles in the configuration space, and therefore collision detection can be established for RGs. Finally, the variation of links for robotic arms and obstacles for configuration space is explored by simulating different scenarios.