On-line generation of collision-free trajectories for multiple robots
Y.P. Chien, Antti J. Koivo · 2003
An online algorithm is proposed to test interferences and generate collision-free trajectories for the motions of loosely coordinated multiple robot manipulators controlled independently by means of PD (proportional differential) controllers. A hierarchical multiple-robot-control architecture is proposed. The approach is demonstrated by simulation studied.>