Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001
A Sensor Based path planning strategy was devised by (E.Fruend and H.Hoyer [1988]) which allows real time trajectory planning and collision avoidance. This strategy is achieved in a hierarchical system, which is also presented in this paper. This strategy is based on non-linear control theory, and it considers four cases,
1. Moving Arms, Stationary Robots, Stationary Obstacles, and Constant Obstacle Size.
2. Stationary Arms, Mobile Robots, Moving Obstacles, and Constant Obstacle Size.
3. Moving Arms, Mobile Robots, Moving Obstacles, and Variable Obstacle Size.
4. Moving Arms, Mobile Robots, Moving Obstacles, and Constant Obstacle Size.
the calculations of the trajectories in this technique are done on the order of milliseconds, and this shows great potential as the low end of a Dynamic Planner, which is completly autonomous. This method considers the Dynamics of manipulators as well, and attempts to generate a minimum time trajectory, which is collision free.