Real-time obstacle avoidance and motion coordination in a multi-robot workcell

The novel framework of elastic strips allows real-time obstacle avoidance and implicit motion coordination for multiple robots in a shared workspace. It augments motion plans with a reactive component allowing the avoidance of unpredictably moving obstacles. The obstacle avoidance behavior is task-dependent so that task behavior is not suspended to avoid obstacles. The motion coordination behavior of robots can also be specified in a task-dependent manner. Motion coordination can be achieved by regarding other robots as obstacles or by real-time modification of the trajectory time parametrization. Multi-robot workcells can be programmed by planning the trajectories of all robots independently. Obstacle avoidance and motion coordination for the resulting trajectories are performed using elastic strips. The framework has been applied to the simulation of a multi-robot workcell.

[1]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[2]  Chong-Won Lee,et al.  Complete motion planner for time-varying environments , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[3]  Tomás Lozano-Pérez,et al.  Deadlock-free and collision-free coordination of two robot manipulators , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[4]  Oussama Khatib,et al.  Elastic bands: connecting path planning and control , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  Jean-Claude Latombe,et al.  On-Line Manipulation Planning for Two Robot Arms in a Dynamic Environment , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[7]  Hoda A. ElMaraghy,et al.  Integration of task planning and motion control in a multi-robot assembly workcell , 1993 .

[8]  Oussama Khatib,et al.  Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation , 1996, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96.

[9]  Charles W. Warren,et al.  Multiple robot path coordination using artificial potential fields , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[10]  Hoda A. ElMaraghy,et al.  Real-time multi-robot path planner based on a heuristic approach , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[11]  Y. Hamam,et al.  Optimal motion planning of a multiple-robot system based on decomposition coordination , 1992, IEEE Trans. Robotics Autom..

[12]  Wen-Han Qian,et al.  Simplified motion planning strategies in flexible manufacturing , 1995, Proceedings. IEEE International Symposium on Assembly and Task Planning.

[13]  S. Zucker,et al.  Toward Efficient Trajectory Planning: The Path-Velocity Decomposition , 1986 .

[14]  Oliver Brock,et al.  Executing motion plans for robots with many degrees of freedom in dynamic environments , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[15]  Steven M. LaValle,et al.  Optimal motion planning for multiple robots having independent goals , 1998, IEEE Trans. Robotics Autom..