A modified forward search algorithm in a problem of a manipulator control in an unknown environment

Abstract

 An algorithm for an n-link manipulating robot (MR) control in an environment with unknown static obstacles is considered. The algorithm is reduced to solution of a finite number of problems PI – planning of a path in an environment with discovered and therefore known forbidden states with subsequent execution of the path. Given an algorithm for a solution of the PI problem. A theorem is proved stating that the algorithm will solve the PI problem in a finite number of steps.