Coordinated motion planner among moving machines and objects

In this paper a coordinated motion planner is proposed for coordinating collision-free motion among dynamic moving objects or machines in a shared space. Based on the concept of path-velocity decomposition proposed by Kant and Zucker, an algorithm is developed for evaluating performance of different motion strategies. The developed motion planner will coordinate collision-free motion for multiple uncontrollable/controllable objects moving in a shared environment. A dynamic object can be a vehicle or multibody object such as a robot. The applicability of the proposed approach is demonstrated through examples. Our result shows that multiple controllable machines can be controlled and scheduled efficiently in avoiding collision with uncontrollable machines and objects in an environment.