A Divide-and-Conquer Method for Planning Collision Free Paths for Cooperating Robots

Abstract

Abstract This paper presents a method for autonomously planning collision free paths for two cooperating robots in a static environment. Cooperating robots simultaneously grasp and manipulate a single object. Our method utilizes a divide-and-couquer type of heuristic and involves non-exhaustive mapping of configuration space. The method is applicable to all manipulators having any number of links and is suitable for path planning of single as well as cooperating robots. While there is no guarantee of finding a solution, the algorithm has been successfully applied to a variety of problems including two cooperating nine dof arms. Sample results are included.