Minimum-Time Trajectory Planning Ensuring Collision-Free Motions for Two Robots with Geometric Path Constraints

공간상의 길이 주어진 두 대의 로보트를 위한 최소시간 충돌회피 경로 계획

Collision-free trajectory planning for two robots is considered. The two robot system handled in the paper is given specified geometric paths for two robots, and the task is repeating. Then, the robot dynamics is transformed as a function of the traveled lengths along the paths, and the bounds on acceleration and velocity are described in the phase plane be taking the constraints on torques and joint velocities into consideration. Collision avoidance and time optimality are considered simultaneously in the coordination space and the phase plane, respectively. The proof for the optimality of the proposed algorithm is given, and a simulation result is included to show the usefulness of the proposed method.