Sub-optimal collision-free motion planning of a two-robot system using free arc

Control Engineering Practice

Volumn 6, Issue 8, 1998, Pages 935-946

  Lee, S W ^a   Lee, B H ^a   Lee, K D ^b  

^a Seoul National University   (South Korea)

^b Yeungnam University   (South Korea)

Author keywords

C space; Collision free motion planning; Free arc; Motion constraint; Optimal problem; Two robot system

Indexed keywords

COLLISION AVOIDANCE; CONSTRAINT THEORY; MANIPULATORS; MOBILE ROBOTS; OPTIMAL CONTROL SYSTEMS; SET THEORY;

SUBOPTIMAL COLLISION AVOIDANCE PROBLEM (SOCAP); TWO ROBOT SYSTEMS;

MOTION PLANNING;

EID: 0032131146     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0967-0661(98)00065-3     Document Type: Article

References (14)

1. Bien, Z., & Lee, J. (1992). A minimum-time trajectory planning method for two robots. IEEE Trans. on Robotics and Automation, 8, 414-418.
2. Freund, E., & Hoyer, H. (1988). Real-time pathfinding in multirobot systems including obstacle avoidance. Int. J. Robotics Research, 7, 42-70.
3. Gill, P.E., Murray, W., & Wright, M.H. (1981). Practical Optimization. Academic Press, London.
4. Hwang, Y.K., & Ahuja, N. (1992). Gross motion planning - A survey. ACM Computing Surveys, 24, 219-291.
5. Kant, K., & Zucker, S.W. (1986). Toward efficient trajectory planning: The path-velocity decomposition. Int. J. Robotics Research, 5, 72-89.
6. Latombe, J.C. (1991). Robot Motion Planning. Kluwer Academic Publishers, Boston.
7. Lee, B.H., & Lee, C.S.G. (1987). Collision-free motion planning of two robots. IEEE Trans. on Systems, Man and Cybernetics, SMC-17, 21-32.
8. Lee, B.H. (1989). Constraints identification in time-varying obstacle avoidance for mechanical manipulators. IEEE Trans. on Systems, Man and Cybernetics, 19, 140-143.
9. Lee, J. (1995). A dynamic programming approach to near minimum-time trajectory planning for two robots. IEEE Trans. on Robotics and Automation, 11, 160-164.
10. Lozano-Perez, T. (1987). A simple motion-planning algorithm for general robot manipulators. IEEE Trans. on Robotics and Automation, RA-3, 224-238.
11. Lozano-Perez, T., & Wesley, M.A. (1979). An algorithm for planning collision-free paths among polyhedral obstacles. ACM Commun., 22, 560-570.
12. Shin, Y., & Bien, Z. (1989). Collision-free trajectory planning for two robot arms. Robotica, 7, 205-212.
13. Shin, K.G., & Zheng, Q. (1992). Minimum-time collision-free trajectory planning for dual-robot systems. IEEE Trans. on Robotics and Automation, 8, 641-644.
14. Yoshikawa, T. (1985). Manipulability of robotic mechanisms. Int. J. Robotics Research, 4, 3-9.