Journal ArticleDOI
Collision avoidance of two general robot manipulators by minimum delay time
Cheol Hyeon Chang,Myung Jin Chung,Bum Hee Lee +2 more
- Vol. 24, Iss: 3, pp 517-522
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TLDR
A simple time delay method for avoiding collisions between two general robot arms is proposed and a computer simulation study is shown where a collision is likely to occur realistically.Abstract:
A simple time delay method for avoiding collisions between two general robot arms is proposed. Links of the robots are approximated by polyhedra and the danger of collision between two robots is expressed by distance functions defined between the robots. The collision map scheme, which can describe collisions between two robots effectively, is adopted. The minimum delay time value needed for collision avoidance is obtained by a simple procedure of following the boundary contour of collision region on collision map. To demonstrate the effectiveness of the proposed time delay method, a computer simulation study is shown where a collision is likely to occur realistically. >read more
Citations
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Journal ArticleDOI
Optimal motion planning for multiple robots having independent goals
TL;DR: This work makes two contributions to geometric motion planning for multiple robots: i) motion plans can be determined that simultaneously optimize an independent performance criterion for each robot; ii) a general spectrum is defined between decoupled and centralized planning.
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Coordinated Path Planning for Multiple Robots
Petr Švestka,Mark H. Overmars +1 more
TL;DR: A new approach to the multi-robot path planning problem, where a number of robots are to change their positions through feasible motions in the same static environment, is presented, which is probabilistically complete and can show that any solvable problem will be solved within a finite amount of time.
Proceedings ArticleDOI
A distributed and optimal motion planning approach for multiple mobile robots
Yi Guo,Lynne E. Parker +1 more
TL;DR: This work proposes a distributed and optimal motion planning algorithm for multiple robots that explicitly optimizes performance functions through a distributed implementation and is one of the few that is capable of handling outdoor rough terrain environments and real time replanning.
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Path coordination for multiple mobile robots: a resolution-complete algorithm
TL;DR: A geometry-based approach for multiple mobile robot motion coordination based on a bounding box representation of the obstacles in the so-called coordination diagram that efficiently solves problems involving up to ten robots in worst-case situations and more than 100 robots in practical ones.
Journal ArticleDOI
Coordinating Multiple Robots with Kinodynamic Constraints Along Specified Paths
Jufeng Peng,Srinivas Akella +1 more
TL;DR: An approach to generate continuous velocity profiles for multiple robots; these velocity profiles satisfy the dynamics constraints, avoid collisions, and minimize the completion time is presented.
References
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Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator control problem as direct control of manipulator motion in operational space-the space in which the task is originally described-rather than as control of the task's corresponding joint space motion obtained only after geometric and kinematic transformation.
Journal ArticleDOI
A fast procedure for computing the distance between complex objects in three-dimensional space
TL;DR: An algorithm for computing the Euclidean distance between a pair of convex sets in R/sup m/ has special features which makes its application in a variety of robotics problems attractive.
Journal ArticleDOI
A simple motion-planning algorithm for general robot manipulators
TL;DR: A simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators and an implementation of the algorithm for manipulators made up of revolute joints is described.
Journal ArticleDOI
Collision-Free Motion Planning of Two Robots
Beom Hee Lee,C.S.G. Lee +1 more
TL;DR: Notions of collision map and time scheduling are developed and applied for realizing a collision-free motion planning and an example is shown for the time scheduling of the trajectory, which shows the significance of the proposed approach.
Journal ArticleDOI
A minimum-time trajectory planning method for two robots
Zeungnam Bien,J. Lee +1 more
TL;DR: A trajectory planning method that ensures collision-free and time-optimal motions for two robotic manipulators with limited actuator torques and velocities is proposed.