Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
Each path has some features which affect the cost. As was described earlier the costs are time, velocity, dynamics, energy, and proximity to obstacles. A basic statement of the goal is given, and this should be used when formulating a complete Measure of Performance function or algorithm.
"The manipulator should traverse the path in the least amount of time, with reasonable forces on the manipulator, using a reasonable amount of energy, and not approachnig obstacles too closely."