Cooperative Motion Planning For Autonomous Manipulators
Tomoyuki Nagata, Taro Nakamura · 2005
We propose a method to solve the colli- sion free motion planning problem under the situa- tion where multiple manipulators in the same space are engaged in works in an independent or a loosely cooperative manner. The strategy is based on the concept of the autonomous and cooperative dis- tributed robots system. First of all, a basic database utilized for mapping from a work space(W-space) to a configuration space(C-space) and managed in or- der to construct obstacle areas in C-space easily and rapidly is described. Second, a correlation map between C-space and W-space is introduced in order to define an area, where each manipulator has the possibility to col- lide each other, in W-space on the basis of reachable areas of each manipulator in C-space. Third, considered as a resource allocation prob- lem in W-space, the collision free path problem for each manipulator is solved in the frame of the cooperative distributed problem-solving for an au- tonomous distributed system. The approach is simi- lar to the cooperation strategy for avoiding the con- flict of airplanes in an air-traffic control domain. Simulation results for a two manipulators system re- veal the usefulness of the method we proposed.