id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-442	Raheem, Firas A.; Hussain, Asmaa A.	تطبيق خوارزمية A* لتخطيط المسار على تحليل C-SPACE المعدل	2018	13	.pdf	application/pdf	4581	276	74	Therefore, to find the path from one side to other, the range of changing #� is chosen in somehow for unification the region of �����which make the path planning easier. The geometrical representation of the obstacle (s) can be denoted as �, so the configuration space obstacles will be as below [1]: ���� = { : �� ∩ � ≠ ∅} … �1 While C-free can be represented as below [1]: ����� = { : �� ∩ � = ∅} … �2 Where: ���� : C-space obstacles : Robot configuration �� : The set of points of the space confined by the robot at configuration The C-space as overall can be defined as [1]: ������ = ���� ∪ ����� … �3 The mathematical study of the surface properties, which are do not change if this surface has been applied for certain deformations, such as bending or stretching, is called topology of space.	cache/alkej-442.pdf	txt/alkej-442.txt