Research Article
Adaptation Algorithm of Geometric Graphs for Robot Motion Planning in Dynamic Environments
Figure 18
Motion planning results and trajectories of robot motion for two test cases (start motion (green); goal motion (red)). (a) Roadmap graph and the planned motion (blue) in the configuration space for the collision-free path from [−155°, 35°] to [37°, 157°]; (b) motion trajectory in the workspace for (a); (c) roadmap graph and the planned motion (blue) in the configuration space for the collision-free path from [−4°, 59°] to [−165°, 62°]; (d) motion trajectory in the workspace for (c).
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