Abstract
The ‘findpath problem’ a well-known problem in robotics, is the problem of finding a path for a moving solid among other solid obstacles. In this paper, a solution is proposed for the two-dimensional case where two point masses are required to move to designated areas or targets located in the horizontal plane while avoiding moving or stationary planar objects. The main tool used to solve the problem is the 'second or direct method of Liapunov', a powerful mathematical tool usually associated with the stability analysis of nonlinear systems. The theory developed from solving the two-dimensional findpath problem is then applied to the problem of cooperation between two planar robot arms. Computer simulations show the effectiveness of the proposed method
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