Throughout the world, researchers are improving robots to enable them to do more complex tasks with less human intervention. One aspect of this research is the complex path planning problem. The authors' approach combines potential fields, which guide a robot through Cartesian space, and a parallel genetic algorithm, which calculates suitable joint variables for the robot's trajectory.
['Mark A. C. Gill', 'Albert Y. Zomaya']
A parallel collision-avoidance algorithm for robot manipulators