DC Field | Value | Language |
---|---|---|
dc.contributor.author | KIM, MS | - |
dc.contributor.author | SUH, SH | - |
dc.date.accessioned | 2016-04-01T00:57:33Z | - |
dc.date.available | 2016-04-01T00:57:33Z | - |
dc.date.created | 2009-03-20 | - |
dc.date.issued | 1992-03 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.other | 1992-OAK-0000008558 | - |
dc.identifier.uri | https://oasis.postech.ac.kr/handle/2014.oak/22210 | - |
dc.description.abstract | Collision-Avoidance is a key issue in planning trajectories for dual robots whose workspaces overlap. In this paper, we develop a new trajectory planning method by proposing a traffic control schemes. The traffic controller determines the next positions for each robot based on the motion priority and path direction subject to the collision-avoidance conditions and the robots' physical limits. The problem of determining the next positions is formulated and optimized. Algebraic expressions for collision avoidance between every-pair of links - one from the first robot and the other from the second robot - are derived in configuration space. These algebraic expressions are then used to solve the problem of determining "optimal" (in the sense of path direction and motion priority) robots' trajectories. A solution procedure is developed using a nonlinear programming (NLP) solver. The main advantage of our approach is that the two robots' trajectories can be determined simultaneously without requiring any a priori path information. Several numerical examples are presented to demonstrate the validity and effectiveness of the proposed approach. | - |
dc.description.statementofresponsibility | X | - |
dc.language | English | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.relation.isPartOf | ROBOTICA | - |
dc.title | AN ALGEBRAIC APPROACH TO COLLISION-AVOIDANCE TRAJECTORY PLANNING FOR DUAL-ROBOT SYSTEMS - FORMULATION AND OPTIMIZATION | - |
dc.type | Article | - |
dc.contributor.college | 산업경영공학과 | - |
dc.identifier.doi | 10.1017/S0263574700007591 | - |
dc.author.google | KIM, MS | - |
dc.author.google | SUH, SH | - |
dc.relation.volume | 10 | - |
dc.relation.startpage | 173 | - |
dc.relation.lastpage | 182 | - |
dc.contributor.id | 10070936 | - |
dc.relation.journal | ROBOTICA | - |
dc.relation.index | SCI급, SCOPUS 등재논문 | - |
dc.relation.sci | SCIE | - |
dc.collections.name | Journal Papers | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.10, pp.173 - 182 | - |
dc.identifier.wosid | A1992HJ88000009 | - |
dc.citation.endPage | 182 | - |
dc.citation.startPage | 173 | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 10 | - |
dc.contributor.affiliatedAuthor | SUH, SH | - |
dc.identifier.scopusid | 2-s2.0-84974118772 | - |
dc.description.journalClass | 1 | - |
dc.description.journalClass | 1 | - |
dc.description.wostc | 1 | - |
dc.type.docType | Article | - |
dc.subject.keywordAuthor | DUAL ROBOT SYSTEMS | - |
dc.subject.keywordAuthor | TRAJECTORY PLANNING | - |
dc.subject.keywordAuthor | NONLINEAR PROGRAMMING | - |
dc.subject.keywordAuthor | CONFIGURATION SPACE | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
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