Path Planning Algorithm for Manipulators Based on an Improved Backtracking Search Algorithm

In this paper, we presented a Path Planning Algorithm (PPA) for Manipulators based on an improved Backtracking Search Algorithm (BSA). PPA calculates paths by searching grid points in Euclidean space directly instead of Configuration space(C-space). PPA generate copies of point for efficient Path Planning Algorithm and its reduce the complexity of BSA. The algorithm is back track free and resolution complete. Different from existing resolution complete algorithms, its computation time and memory space are proportional to the number of arms. Therefore paths can be calculated within practical time without backtrack even for manipulators with many arms, and it becomes possible to apply it to manipulators that operate in complicated and fully automated environments. The performance of PPA is evaluated for 2-dimensional environments while changing the number of arms and obstacle placements.