A GLOBAL COLLISION-FREE PATH PLANNING USING PARAMETRIC PARABOLA THROUGH GEOMETRY MAPPING OF OBSTACLES IN ROBOT WORK SPACE

In this paper, a new algorithm for palnning collision-free path connec ting from start to target point is developed using Bezier curve of ord er two. The control point, i. e. the mid-point of quadratic Bezier cur ve, determines the shape of parabola and constitutes the Control Point Space. Interference check between path and obstacles creates image in Control Point Space, and this process is difined a Geometry Mapping. After Geometry Mapping of all obstacles, the clear area of CPS, an are a not occupied by obstacle images, identifies collision-free path. The path planning algorithm, heance, transform path planning problem in E uclidian Space to point selection problem in CPS. The calculations inv olved in the algorithm do not require iterative procedures and all the formulas of the solution are derived in closed form. A CPS completely filled with obstacle images indicates that path planning based on par abola is not possible and requires higher order curve with more than o ne control point.