Abstract
This paper proposes a method to coordinate the motion of multiple heterogeneous robots on a network. The proposed method uses prioritization and avoidance. Priority is assigned to each robot; a robot with lower priority avoids the robots of higher priority. To avoid collision with other robots, elastic force and potential field force are used. Also, the method can be applied separately to the motion planning of a part of a robot from that of the other parts of the robot. This is useful for application to the robots of the type mobile manipulator or highly redundant robots. The method is tested by simulation, and it results in smooth and adaptive coordination in an environment with multiple heterogeneous robots.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
K. Ohara, et al., System design for ubiquitous robotics with functions, Proceedings of the 2nd International Conference on Ubiquitous Robots and Ambient Intelligence, Nov. (2005), 66–70.
B. K. Kim, et al., Design of ubiquitous functions for networked robots in the informative spaces, Proceedings of the 2nd International Conference on Ubiquitous Robots and Ambient Intelligence, Nov. (2005), 71–76.
O. Khatib, Real-time obstacle avoidance for manipulators and mobile robots, The Int. J. Robotics Research, Spring (1986), 5(1) 90–98.
J. Borenstein and Y. Koren, The vector field histogram-fast obstacle avoidance for mobile robots, IEEE Transaction on Robotics Automation, June, 7(3) (1991) 278–288.
P. Batavia and I. Nourbakhsh, Path planning for the cye personal robot, Proc. International Conference in Intelligent Robots and Systems (IROS 2000), Oct., 1 (2000) 15–20.
N. Y. Ko, R. Simmons and K. S. Kim, A lane based avoidance method for mobile robot navigation, KSME International Journal, Nov., 17(11) (2003) 1693–1731.
R. Simmons, The curvature-velocity method for local obstacle avoidance, IEEE International Conference on Robotics and Automation, Minneapolis MN, April (1996) 3375–3382.
D. Fox, W. Burgard and S. Thrun, The dynamicwindows approach to collision avoidance, IEEE Robotics and automation magazine, March, IEEE 4(1) (1997) 23–33.
R. Siegwart et al., Robox at expo.02: a large scale installation of personal robots, Journal of Robotics and Autonomous Systems, March, 42(3) (2003) 203–222.
O. Brock and O. Khatib, Elastic strips: A framework for motion generation in human environments, The Int. J. of Robotics Research, Dec. 21(12) (2002) 1031–1052.
N. Y. Ko, R. Simmons and D. J. Seo, Trajectory modification using elastic force for collision avoidance of a mobile manipulator, LNAI 4099, PRICAI 2006: Trends in Artificial Intelligence, Aug. (2006) 190–199.
Simmons, R., et al., Lessons learned from xavier, IEEE Robotics and Automation Magazine, June, 7(2) (2000) 33–39.
B. Sellner, F. W. Heger, L. M. Hiatt, R. Simmons and S. Singh, Coordinated multi-agent teams and sliding autonomy for large-scale assembly, Proceedings of the IEEE, special issue on multi-agent systems, July, 94(7) (2006) 1425–1444.
S. Quinlan and O. Khatib, Elastic bands: Connecting path planning and control, Proc. 1993 IEEE Int. Conf. on Robotics and Automation, 2. (1993) 802–807.
Author information
Authors and Affiliations
Corresponding author
Additional information
This paper was recommended for publication in revised form by Associate Editor Jong Hyeon Park
Nak Yong Ko received the B.S. degree, M.S. degree, and Ph.D. degree from the Department of Control and Instrumentation Engineering, Seoul National University, Korea, in the field of robotics. He is Professor of the department of Control, Instru-mentation, and Robot Engineering, Chosun University, Korea, from 1992. During 1996–1997 and 2004–2005, he worked as a visiting research scientist at the Robotics Institute of Carnegie Mellon University. His research interests include autonomous motion of mobile robots(collision avoidance, localization, map building, navigation, and planning), manipulator force/torque control, and incorporation of mobile robot technology into GIS.
Dong Jin Seo is a Research Engineer in Robotics Institute at REDONE Tech. He earned B.A degree, M.S. degree and Ph.D. degree from the Department of Control and Instrumentation Engineering, Chosun Uni-versity, Korea in 2000, 2002 and 2006. During 2004–2005, he worked as a visiting student scholar at the Robotics Institute of Carnegie Mellon University, USA. His research interests are multi-robot cooperation, localization, navigation and modeling robot simulation systems with uncertainty.
Reid Gordon Simmons is a research scientist in the department of com-puter science and robotics institute at Carnegie Mellon University, USA. He earned his B.A degree in 1979 in computer science from SUNY at Buffalo, and his M.S and Ph.D. degrees from MIT in 1983 and 1988, respectively, in the field of artificial intelligence. His research interests focus on developing reliable, highly autonomous systems(especially mobile robots) that operate in rich, uncertain environments. In particular, he is interested in architectures for autonomy the combine deliberative and reactive behavior, reliable execution monitoring and error recovery, multi-robot coordination, probabilistic and symbolic planning, formal verification of autonomous systems, and human-robot social interaction.
Rights and permissions
About this article
Cite this article
Ko, N.Y., Seo, D.J. & Simmons, R.G. Collision-free motion coordination of heterogeneous robots. J Mech Sci Technol 22, 2090–2098 (2008). https://doi.org/10.1007/s12206-008-0718-9
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12206-008-0718-9