Computing Near Optimal Paths in C-Space Using Simulated Annealing

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.