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An algebraic approach to collision-avoidance trajectory planning for dual-robot systems: Formulation and optimization

Published online by Cambridge University Press:  09 March 2009

Suk-Hwan Suh  and
Myung-Soo Kim
Suk-Hwan Suh
Affiliation:
Department of Industrial Engineering, POSTECH, P.O. Box 125, Pohang (Korea) 790–600
Myung-Soo Kim
Affiliation:
Department of Computer Science, POSTECH, P.O. Box 125, Pohang (Korea) 790–600
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Summary

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.

Keywords

Dual Robot SystemsTrajectory PlanningNonlinear ProgrammingConfiguration Space
Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 173 - 182
Copyright
Copyright © Cambridge University Press 1992

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