{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:01:13Z","timestamp":1760234473624,"version":"build-2065373602"},"reference-count":40,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,5,10]],"date-time":"2021-05-10T00:00:00Z","timestamp":1620604800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, and pharmaceutical applications. The automation of high-degree-of-freedom (DOF) manipulator robots is a challenging task due to the high redundancy in the end-effector position. Additionally, in the presence of obstacles in the workspace, the task becomes even more complicated. Therefore, for decades, the most common method of integrating a manipulator in an industrial automated process has been the demonstration technique through human operator intervention. Although it is a simple strategy, some drawbacks must be considered: first, the path\u2019s success, length, and execution time depend on operator experience; second, for a structured environment with few objects, the planning task is easy. However, for most typical industrial applications, the environments contain many obstacles, which poses challenges for planning a collision-free trajectory. In this paper, a multiple-query method capable of obtaining collision-free paths for high DOF manipulators with multiple surrounding obstacles is presented. The proposed method is inspired by the resistive grid-based planner method (RGBPM). Furthermore, several improvements are implemented to solve complex planning problems that cannot be handled by the original formulation. The most important features of the proposed planner are as follows: (1) the easy implementation of robotic manipulators with multiple degrees of freedom, (2) the ability to handle dozens of obstacles in the environment, (3) compatibility with various obstacle representations using mathematical models, (4) a new recycling of a previous simulation strategy to convert the RGBPM into a multiple-query planner, and (5) the capacity to handle large sparse matrices representing the configuration space. A numerical simulation was carried out to validate the proposed planning method\u2019s effectiveness for manipulators with three, five, and six DOFs on environments with dozens of surrounding obstacles. The case study results show the applicability of the proposed novel strategy in quickly computing new collision-free paths using the first execution data. Each new query requires less than 0.2 s for a 3 DOF manipulator in a configuration space free-modeled by a 7291 \u00d7 7291 sparse matrix and less than 30 s for five and six DOF manipulators in a configuration space free-modeled by 313,958 \u00d7 313,958 and 204,087 \u00d7 204,087 sparse matrices, respectively. Finally, a simulation was conducted to validate the proposed multiple-query RGBPM planner\u2019s efficacy in finding feasible paths without collision using a six-DOF manipulator (KUKA LBR iiwa 14R820) in a complex environment with dozens of surrounding obstacles.<\/jats:p>","DOI":"10.3390\/s21093274","type":"journal-article","created":{"date-parts":[[2021,5,10]],"date-time":"2021-05-10T02:54:58Z","timestamp":1620615298000},"page":"3274","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators"],"prefix":"10.3390","volume":"21","author":[{"given":"Jesus","family":"Huerta-Chua","sequence":"first","affiliation":[{"name":"Instituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis Donaldo Colosio Murrieta S\/N, Arroyo del Maiz, Poza Rica, Veracruz 93230, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gerardo","family":"Diaz-Arango","sequence":"additional","affiliation":[{"name":"Instituto Tecnologico Superior de Poza Rica, Tecnologico Nacional de Mexico, Luis Donaldo Colosio Murrieta S\/N, Arroyo del Maiz, Poza Rica, Veracruz 93230, Mexico"},{"name":"Consejo Veracruzano de Investigacion Cientifica y Desarrollo Tecnologico (COVEICYDET), Av. Rafael Murillo Vidal No. 1735, Cuauhtemoc, Xalapa, Veracruz 91069, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7785-5272","authenticated-orcid":false,"given":"Hector","family":"Vazquez-Leal","sequence":"additional","affiliation":[{"name":"Consejo Veracruzano de Investigacion Cientifica y Desarrollo Tecnologico (COVEICYDET), Av. Rafael Murillo Vidal No. 1735, Cuauhtemoc, Xalapa, Veracruz 91069, Mexico"},{"name":"Facultad de Instrumentacion Electronica, Universidad Veracruzana, Cto. Gonzalo Aguirre Beltran S\/N, Xalapa, Veracruz 91000, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8815-7015","authenticated-orcid":false,"given":"Javier","family":"Flores-Mendez","sequence":"additional","affiliation":[{"name":"Tecnol\u00f3gico Nacional de Mexico\/I.T. Puebla-Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Av. Tecnol\u00f3gico No. 420, Maravillas, Puebla 72220, Mexico"},{"name":"Faculty of Electronics Science Meritorious, University Autonomous of Puebla, 4 Sur 104 Centro, Puebla 72590, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5264-8296","authenticated-orcid":false,"given":"Mario","family":"Moreno-Moreno","sequence":"additional","affiliation":[{"name":"Electronics Department, National Institute for Astrophysics, Optics and Electronics, Sta. Mar\u00eda Tonantzintla, Puebla 72840, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4942-6320","authenticated-orcid":false,"given":"Roberto C.","family":"Ambrosio-Lazaro","sequence":"additional","affiliation":[{"name":"Faculty of Electronics Science Meritorious, University Autonomous of Puebla, 4 Sur 104 Centro, Puebla 72590, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2481-8723","authenticated-orcid":false,"given":"Carlos","family":"Hernandez-Mejia","sequence":"additional","affiliation":[{"name":"Doctorado en Ciencias de la Ingenieria, Instituto Tecnol\u00f3gico Superior de Misantla, Km 1.8 Carretera Lomas del Cojolite, Misantla, Veracruz 93821, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/j.rcim.2014.10.002","article-title":"On generating the motion of industrial robot manipulators","volume":"32","author":"Kaltsoukalas","year":"2015","journal-title":"Robot. 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