Breadth-First Search Robot Motion Planning
Breadth-First Search Robot Motion Planning
This Demonstration shows a resolution-complete planner that finds the shortest path between an initial and final configuration of a two-link, planar-arm robot by using a breadth-first search. The robot operates in the workspace on the left that contains two small circular obstacles. The corresponding robot phase space on the right shows the configurations , for which an arm intersects an obstacle. You can relocate obstacles in the workspace and change the initial and final positions. You can improve the resolution of the search grid by increasing and move the robot along the shortest path by increasing .
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