A RULE-BASED SELECTION OF C-SPACE REPRESENTATION FOR RAPID 3D ROBOT PATH PLANNING

Abstract This work presents a rule-based algorithm for selection of adequate free space representation, in order to calculate in a rapid way the free collision 3D path of up to 6DOF robots. These representations are based on the C-space techniques. Each of them generates different path planning algorithms which are: a) cell (cube) mapping, b) octrees and c)slice. Its selection depend on several parameters, like the distance between start and goal positions and orientations, number of obstacles in the environment, number of robots movements in the environment, etc. The results of the real implementation are presented.