Collision-free trajectory control for multiple robots based on neural optimization network

摘要

SUMMARY A collision-free trajectory control for multiple robots is proposed. The proposed method is based on the concept of neural optimization network. The positions or configurations of robots are taken as the variables of the neural circuit, and the energy of network is determined by combining various functions, in which one function is to make each robot approach to its goal and another helps each robot from colliding with other robots or obstacles. Also a differential equation of the circuit which tends to minimize the energy is derived. A new method for describing collision between articulated arms is presented and some heuristic method to improve the feasibility and the safety of the trajectory is proposed. Also illustrative simulation results for mobile robots and articulated robot arms are presented.