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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