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The Path Planning Phase consists of develop ing a potential field around each object in C-Space and using the resulting field to choose an appropriate path. To accom plish this, a trial path is chosen and then modified under the influence of the potential field. Considering the entire path greatly reduces the probability of becoming trapped in a local minimum, making the method effective for global planning.<\/jats:p>","DOI":"10.1177\/027836498900800509","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"87-95","source":"Crossref","is-referenced-by-count":20,"title":["An Approach To Manipulator Path Planning"],"prefix":"10.1177","volume":"8","author":[{"given":"C.W.","family":"Warren","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The University of Alabama Tuscaloosa, Alabama 35487"}]},{"given":"J.C.","family":"Danos","sequence":"additional","affiliation":[{"name":"Naval Training Systems Center Orlando, Florida 32813"}]},{"given":"B.W.","family":"Mooring","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Texas A&M University College Station, Texas 77843"}]}],"member":"179","published-online":{"date-parts":[[1989,10,1]]},"reference":[{"key":"atypb1","unstructured":"Brady, M., Hollerback, J.M., Johnson, T.L., Lozano-P\u00e9rez, T., and Mason, M.T. 1982. 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