Structured Motion Planning in the Local Configuration Space

Proposition d'un algorithme pour la planification de mouvement en temps minimal d'un manipulateur dans un espace de configuration. L'unicite de cet algorithme resulte de la combinaison des splines polynomiales cubiques et quadratiques. Cette methode considere toutes les limitations physiques realistes inherentes a la conception du manipulateur, et aux contraintes geometriques imposees sur le chemin

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