A real-time motion planning algorithm for a hyper-redundant set of mechanisms

We introduce a novel probabilistic algorithm (CPRM) for real-time motion planning in the configuration space. Our algorithm differs from a probabilistic road map (PRM) algorithm in the motion between a pair of anchoring points (local planner) which takes place on the boundary of the obstacle subspace. We define a varying potential field f on ∂ as a Morse function and followf . We then exemplify our algorithm on a redundant worm climbing robot with n degrees of freedom and compare our algorithm running results with those of the PRM.