How to optimise path for robotic manipulator with obstacle avoidance??

I am using Robotics toolbox for this purpose, I would like to do the path planning for a 5 DOF robotic manipulator with static obstacle avoidance.

I would like to know how this done as such in the video given below??

https://www.mathworks.com/videos/design-a-pick-and-place-robotics-application-with-matlab-and-simulink-122950.html

Answer 1

[Dheeraj Singh]

For a 2D environment, you can use PRM .

For building the environment you need to give the environment and number of points as input to the PRM and it will build a collision free MAP of the environment in the form of a graph.

Now using the start and goal locations you can find the shortest path from the above created MAP.