a1 Mechanical Engineering, Ariel University, Ariel, Israel
a2 Computer Science, Ariel University, Ariel, Israel
a3 Industrial Engineering, Ariel University, Ariel, Israel
We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace . We define a varying potential field f on ∂ as a Morse function and follow . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.
(Accepted May 01 2013)
(Online publication June 11 2013)