Coordination of Robots With Overlapping Workspaces Based on Motion Co-Evolution

The level of autonomy is the most important feature by which the modern robotic systems development is directed. Furthermore, if the robots are supposed to work together in order to solve a complex task, their workspaces are shared. In this case, the robots present dynamic obstacle to each other. This paper presents a solution of the problem of motion coordination of two robots with overlapping workspaces based on co-evolutionary algorithm for simultaneous motion planning of the two robots. A method for exact calculation of the solution coding chromosome length based on physical limitations of the robots is proposed. The algorithm is evaluated in a simulation environment developed in Matlab. Implementation to the real real industrial FANUC Lr Mate 200iC robots is performed. The simulation and implementation show high potential in terms of convergence robustness and time.

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