Resolution-Exact Planner for Thick Non-Crossing 2-Link Robots

Chee K. Yap, Zhongdi Luo, Ching-Hsiang Hsu

We consider the path planning problem for a 2-link robot amidst polygonal obstacles. Our robot is parametrizable by the lengths ${\ell }_1,{\ell }_2>0$ of its two links, the thickness $…