A Dynamic Real-Time Motion Planning Method for Multi-robots with Collision Avoidance

Collision avoidance is the major concern for the multi-robots operation. However, few literatures can generate a collision free path as well as a smooth motion profile at the same time. To solve this problem, this paper presents an integrated motion planning scheme for two manipulators working in a shared workspace. In this method, first, a collision free path is calculated in the path planning phase. Then, the smooth trajectory is generated by using a dynamic nonlinear filter. Both the path and the trajectory are calculated directly, thus the computation load is low and the approach can be applied in a real-time manner. Simulation results indicate that the proposed method is effective to realize collision avoidance for industrial robots working in a common workspace.

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