Chien, Stanley Y. P., authorMaciejewski, Anthony A., authorSheu, Philip C.-Y., authorXue, Qing, authorKluwer Academic Publishers, publisher2007-01-032007-01-031996Xue, Qing, et al., Planning of Collision-Free Paths for a Reconfigurable Dual Manipulator Equipped Mobile Robot, Journal of Intelligent and Robotic Systems 17, no. 3 (November 1996): 223-242.http://hdl.handle.net/10217/67354In this paper, we study the problem of finding a collision-free path for a mobile robot which possesses manipulators. The task of the robot is to carry a polygonal object from a starting point to a destination point in a possibly culttered environment. In most of the existing research on robot path planning, a mobile robot is approximated by a fixed shape, i.e., a circle or a polygon. In our task planner, the robot is allowed to change configurations for avoiding collision. This path planner operates using two algorithms: the collision-free feasible configuration finding algorithm and the collision-free path finding algorithm. The collision-free feasible configuration finding algorithm finds all collision-free feasible configurations for the robot when the position of the carried object is given. The collision-free path finding algorithm generates some candidate paths first and then uses a graph search method to find a collision-free path from all the collision-free feasible configurations along the candidate paths. The proposed algorithms can deal with a cluttered environment and is guaranteed to find a solution if one exists.born digitalarticleseng©1996 Kluwer Academic Publishers.Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.path planningartificial intelligencereconfigurable robotText