A Fast Method of Collision Avoidance for an Articulated Two Link Planar Robot using Distance Functions

Abstract

This paper presents a heuristic method of collision avoidance for robots with two degrees of freedom. The algorithm is simple, geometrically intuitive and strongly uses distance functions for its implementation. The method is applied to an articulated, two link planar arm and shown to generate good paths using only short computing times.

Indexing terms:

• Collision avoidance
• Basic path finding algorithm
• Distance function