Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
Every environment has something moving. To consider this problem B.H.Lee and Y.P.Chien [1987] suggest a method for off-line optimization of this problem. Unfortunately this method was not implemented, thus the success of the technique is unknown. The first constraint is a maximum time for motion, this is to force movement before iminent collision and also to force speed in the path. A constraint is assigned to the priority of the obstacle, which usually has first priority on the path. The constraints of start and stop points are also used. Collision constraints are also used, with every object represented as a sphere. The Cost function considers smoothness of the path, and the torque of the actuators, to ensure that the robot is not overstretched.