Collision-Free Coordination Plan for Two Robots

두 로보트를 위한 충돌회피 조정계획 방법

An approach for collision-free coordination plan along designated paths of two robots in a common workspace is presented. Specifically, a notion of coordination space is introduced to visualize all the collision-free coordinations for the two robots. Then a problem is formulated and resolved in order to find the optimal coordination curve which trade off between safety of two robots and difference of degree of accomplishment.