AN ALGEBRAIC APPROACH TO COLLISION-AVOIDANCE TRAJECTORY PLANNING FOR DUAL-ROBOT SYSTEMS - FORMULATION AND OPTIMIZATION
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- Title
- AN ALGEBRAIC APPROACH TO COLLISION-AVOIDANCE TRAJECTORY PLANNING FOR DUAL-ROBOT SYSTEMS - FORMULATION AND OPTIMIZATION
- Authors
- KIM, MS; SUH, SH
- Date Issued
- 1992-03
- Publisher
- CAMBRIDGE UNIV PRESS
- 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.
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/22210
- DOI
- 10.1017/S0263574700007591
- ISSN
- 0263-5747
- Article Type
- Article
- Citation
- ROBOTICA, vol. 10, page. 173 - 182, 1992-03
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- There are no files associated with this item.
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