An automated collision-avoidance motion planner among moving objects or machines

C. H. Wu*, K. Freter, D. T. Lee, K. S. Hwang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2422-2427
Number of pages6
Volume3
ISBN (Print)0780304500
StatePublished - Dec 1 1991
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: Dec 11 1991Dec 13 1991

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period12/11/9112/13/91

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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