Abstract:The paths generated by sampling-based path planning are generally not smooth and often generate multiple unnecessary robot posture changes in the task space. To mitigate such issues with a planned path from sampling-based path planners, shortcut-based path shortening algorithms are commonly adopted in the field of robot manipulator path planning as a post-processing step. In this paper, we analyze shortcut-based algorithms and propose a new approach based on the idea of parallelism for faster path shortening s… Show more
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