Abstract
This paper deals with the problem of finding a good trajectory, from an initial position to a prescribed target point, for the end effector of a robot arm moving on a two-dimensional work field and avoiding obstacles lying on the work field. Two algorithms based on cooperative neural fields are proposed: the former is suited for the case where the location of obstacles is known, the latter doesn't require any a priori knowledge and is based on a very crude collision detector.
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Muraca, P., Raiconi, G. & Varone, T. Cooperative neural field for the path planning of a robot arm. J Intell Robot Syst 15, 11–18 (1996). https://doi.org/10.1007/BF00435722
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DOI: https://doi.org/10.1007/BF00435722