Evaluation of a New Backtrack Free Path Planning Algorithm for Multi-arm Manipulators

This paper evaluates a newly proposed back track free path planning algorithm for Multi-Arm Manipulators. To reduce computation volume and enable path planning for manipulators with many arms, the proposed algorithm calculates paths that avoid obstacles by searching Euclidean space directly. The performance of the algorithm is evaluated while changing the number of arms and obstacles, and location of obstacles. In the experiment, collision free paths were found within less than few seconds. The computation volume of the algorithm is almost the same as the theoretical one even for complicated cases.