Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
A method proposed by K.Kant and S.Zucker [1988] involves collision avoidance of rectangles based upon the search of a VGRAPH. This method also suggests the use of a Low Level controller Collision Avoidance Module. This controller would use low level information about the environment to behave as if experiencing forces from workspace obstacles. The manipulator would be experiencing a pull to the goal state. This method produces a Kinematic and Dynamic, Time Optimal path. None of the implementation details were given in the paper.
Figure B.7 - Visibility of Corners of Rectangles (VGRAPH)
