Path Planning in Ellipsoidal Configuration Space using Silhouette method

This work presents the methodology used for implementing Silhouette method for Robot motion planning in Configuration spaces in arbitrary dimensions. A collection of ellipsoids are used to design and implement this Configuration Space of the robot. The path is then designed based on the Silhouette method as described by Canny [2], which creates semi-free paths in the configuration space and is complete. Djikstra’s algorithm is used to connect the paths obtained. This report introduces each of the key areas of the project and follows a step by step implementation of each. To conclude, we discuss the model output by our implementation and future directions of this project.