COLLISION-FREE MOTION PLANNING OF TWO ROBOTS.

被引：2
|
作者：
Lee, B.H. [1 ]
Lee, C.S.G. [1 ]
机构：
[1] Purdue Univ, West Lafayette, IN, USA, Purdue Univ, West Lafayette, IN, USA
来源：
IEEE Transactions on Systems, Man and Cybernetics | 1987年 / SMC-17卷 / 01期
关键词：
KINEMATICS;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
An approach to collision-free motion planning of two moving robots in a common workshop is presented. Each robot is represented by a sphere containing the wrist and the manipulator hand. The results from a strictly straight-line-trajectory planning method are utilized for planning a path avoiding potential collisions. Due to the distinct nature of the potential collisions between the two moving robots, a new classification of path requirement situations is presented and utilized for planning a collision-free path. Notions of collision map and time-scheduling are developed and applied for realizing a collision-free motion planning. A procedure is developed for the time scheduling of the straight-line trajectory. An example for the time scheduling of the trajectory shows the significance of the proposed approach.
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页码：21 / 32
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