Abstract
This article describes a minimum-distance collision-free path planning technique of an object among fixed obstacles. The workspace is represented in C-space which reduces the original problem to one of path planning for a point in an expanded-obstacle workspace. We use B-spline curves for path representation and they are synthesized with the Simulated Annealing algorithm. We also give representative 2D and 3D examples to validate our results.
Evolutionary method of sink node path planning guided by the Hamiltonian of quantum annealing algorithm