A Synthetic Algorithm for Tracking a Moving Object in a Multiple-Dynamic Obstacles Environment Based on Kinematically Planar Redundant Manipulators

Figure 7

The principle of obstacles avoidance on the path. (a) The overall layout. (b) The end-effector moves around the obstacle in real-time. (c) In the case that path is the optimized path. (d) The LRCM diagram. is ; is the updated path .

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(b)

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