Dynamic collision avoidance for redundant multi-robot systems

作者：Ε. Freund, Michael Schluse, Jürgen Roßmann · 年份：2002 · DOI：10.1109/iros.2001.977146 · 被引用次数：14 · 研究领域：Robotic Path Planning Algorithms、Robotic Mechanisms and Dynamics、Robot Manipulation and Learning

This paper presents a new approach to the online planning of collision-free robot motions and evasive actions for redundant multi-robot/multi-obstacle environments. The approach, based on the collision avoidance methodology CARE (collision avoidance in real-time environments) presented by Rossmann (1993), is a local planning approach which considers the shortest distance and relative velocity between objects. This results in an intuitively comprehensible model to determine the potential collision and provides the basis of a new way of treating collision free path-planning as an optimization problem. This optimization problem is solved in real-time and provides a mathematically exact solution of the path-planning problem by considering all the static and dynamic obstacles in the environment.