This paper proposed an improved algorithm that we call “D++” which can be applied to real-time and collision-free path -planning to solve some problems of common methods at present. D++ algorithm combines the Dijkstra's algorithm with sensor-based method so that D++ algorithm can deal with problems of unknown, large, complex, or dynamic environment, and need only local environmental information initially to find a shortest path. In the later of this article, we demonstrated some examples to show that D++ algorithm is very efficient for path-planning and also very practicable on real mobile robot system.

An algorithm for both manual and automatic derivation of dynamic models of robotic manipulators using the Piogram symbolic method is presented. A program is also developed based on the Newton-Euler formalism by the Piogram symbolic representation method, which is applicable to manipulators of any degree of freedom. Two examples are given to illustrate how to use this program for dynamic equation generation. It is shown that the method has the advantage of simplifying the manipulation process, and thus a large amount of memory space and computing time when the method is implemented in a computer program.>