Abstract
An automated motion planner is proposed for coordinating collision-free motions among dynamic moving objects or machines in a 3-D space. Based on the concept of modified path-velocity decomposition, an algorithm is proposed for evaluating the performance of different motion strategies. As a result, the motion planner will coordinate collision-free motions for multiple uncontrollable/controllable objects moving in a shared environment. A dynamic object can also be a multibody object such as a robot. The applicability of the proposed approach is demonstrated through two examples. The results show that multiple controllable and uncontrollable machines can work together in an industrial environment by efficiently avoiding collisions.
| Original language | English (US) |
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| Title of host publication | Proceedings of the IEEE Conference on Decision and Control |
| Publisher | Publ by IEEE |
| Pages | 2422-2427 |
| Number of pages | 6 |
| Volume | 3 |
| ISBN (Print) | 0780304500 |
| State | Published - Dec 1 1991 |
| Event | Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl Duration: Dec 11 1991 → Dec 13 1991 |
Other
| Other | Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) |
|---|---|
| City | Brighton, Engl |
| Period | 12/11/91 → 12/13/91 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization