Reduntant Robot Motion Planning
CS365
CSpace for 2 dimensional articulated robot:
In the C space, the obstacle come as a regions rather than lines. This is due the non-linear mapping of the line obstacles to valid configurations in C-space. The configurations where the values of theta are such that it just touches or intersects the obstacles show up as empty regions in the C-space. For the 2d case the C-space is a 2d toroid which is visualized as a flattened rectangle. The regions correspond to continous values of <theta1,theta2> that intersect with obstacles.
Visualization of instance of valid Configurations for given robot1.dat:
Visualization for instance of valid configurations for robot2.dat :
