On-Line Collision Avoidance for Multiple Robots Using B-Splines
Real world assembly sequences consists of multiple assembly steps,
many of which can be performed in parallel. In practice this
parallelism is often not exploited because of the complexity involved
in avoiding collisions between all of the robots. In this paper we
describe a simplified method of achieving smooth collision free paths
for multiple robots within a single assembly workcell. Our method is
simple because we exploit properties of B-splines to reduce the
problem to path planning without moving robots. We develop a path
planner to compute an initial linear path. Using that path as input,
a trajectory generation tool creates a collision free path of any
desired continuity. We exploit three properties of B-splines: (i)
continuity for smooth paths, (ii) convex-hull for collision avoidance,
and (iii) locality for dynamic course alteration without loss of
continuity. In addition, our system runs in real-time, easily
accommodating multiple robots. Finally, we describe a user level
visualization tool for this system.
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On-line Collision Avoidance for Multiple Robots Using B-Splines
- Eric Paulos
- (8 Pages PostScript)
Eric Paulos /
paulos@robotics.eecs.berkeley.edu /
12 Sept 1994