A cell mapping method for general optimum trajectory planning of multiple robotic arms

Abstract This paper proposes a method that uses cell state space and cell mapping based techniques for planning general optimum trajectories along given geometric paths for coordinated multiple robotic arm systems. The major advantages of this method include its simplicity and applicability to a wide range of problem formulations. In particular, three performance indices for optimum trajectory specification are investigated, i.e., minimum-energy, minimum-jerk, and minimum-time formulations. A simple search strategy is constructed using cell-to-cell mapping to find optimum trajectories. A special feature of this search algorithm is its ability to generate all optimum trajectories for all possible initial conditions through a single search. The computational complexity is analyzed for the search algorithm and its hierarchical implementation. Parallel execution of the hierarchical search method is discussed and the results indicate that it can improve the cell-mapping search efficiency significantly.

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