An algebraic approach to collision-avoidance trajectory planning for dual-robot systems: Formulation and optimization
Suk‐Hwan Suh, Myungsoo Kim · Robotica · 1992
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 inconfiguration 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 anya prioripath information. Several numerical examples are presented to demonstrate the validity and effectiveness of the proposed approach.