MANIPULATION
On-line generation of collision-free trajectories for multiple robots
Y.P. Chien, A.J. Koivo
- Year
- 2003
- Citations
- 17
Abstract
An online algorithm is proposed to test interferences and generate collision-free trajectories for the motions of loosely coordinated multiple robot manipulators controlled independently by means of PD (proportional differential) controllers. A hierarchical multiple-robot-control architecture is proposed. The approach is demonstrated by simulation studied.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
RobotCollisionComputer scienceLine (geometry)Collision avoidanceArtificial intelligenceDifferential (mechanical device)SimulationEngineeringMathematics
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