Path Planning for Improved Visibility Using a Probabilistic Road Map.

The article discusses the challenges that are associated with vision-based motion planning for industrial manipulators. A discussion of an approach to vision-based motion planning which was developed by the authors and is aimed at planning paths that are within the sensing and actuation limits of industrial hardware and software is presented. A vision-based motion planner which was developed by the authors and augments probabilistic road maps with vision-based constraints is discussed.