Abstract
In order to manipulate an articulated robot, we must find a collision free path from the start configuration to the goal one. We have proposed the Bi–directional Local Search (BLS) method as a technique for efficiently generating the path, which alternately applies Local Search either in the forward direction or in the backward direction until a collision–free path is generated between the start configuration and goal one. In this paper, we report on the result of the search efficiency improvement of BLS. Furthermore, the path generation is achieved in the narrow space between complex obstacles.
