Iterative Path Planning of a Serial Manipulator in a Cluttered Known Environment

Robot path planning in a cluttered environment can be a challenging task. In this paper, a new algorithm is proposed to perform path planning of a point-to-point motion of an industrial manipulator. The algorithm starts from a simple joint interpolated movement and, by computing collision detection along the path, creates a set of via-points that form a path which allows the robot to move to the end position without any collision. In the paper, the new algorithm is presented and compared in simulation to other methods.