Collision-Free Motion Planning of Two Robots

Abstract

An approach to collision-free motion planning of two moving robots in a common workspace is presented. Each robot is represented by a sphere containing the wrist and the manipulator hand. The results from a strictly straight line trajectory planning method are utilized for planning a path avoiding potential collisions. Due to the distinct nature of the potential collisions between the two moving robots, a new classification of path requirement situations is presented and utilized for planning a collision-free path. Notions of collision map and time scheduling are developed and applied for realizing a collision-free motion planning. A procedure is developed for the time scheduling of the straight line trajectory. An example is shown for the time scheduling of the trajectory, which shows the significance of the proposed approach in collision-free motion planning of the two moving robots.