Abstract
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.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Zhou, J., Nagase, K., Kimura, S., et al.: Collision avoidance of two manipulators using rt-middleware. In: 2011 IEEE/SICE International Symposium on System Integration (SII), pp. 1031–1036. IEEE (2011)
Van Den Berg, J.P., Overmars, M.H.: Roadmap-based motion planning in dynamic environments. IEEE Trans. Robot. 21(5), 885–897 (2005)
Al-Mutib, K., AlSulaiman, M., Emaduddin, M., et al.: D* lite based real-time multi-agent path planning in dynamic environments. In: 2011 Third International Conference on Computational Intelligence, Modelling and Simulation (CIMSiM), pp. 170–174. IEEE (2011)
Kuffner, J., LaValle, S.M.: RRT-Connect An efficient approach to single-query path planning. In: IEEE International Conference on Robotics and Automation, pp. 473–479 (2000)
LaValle, S.M., Kuffner, Jr., J.J.: Rapidly-exploring random trees: progress and prospects (2000)
Afaghani, A.Y., Aiyama, Y.: On-line collision avoidance between two robot manipulators using collision map and simple escaping method. In: 2013 IEEE/SICE International Symposium on System Integration (SII), pp. 105–110. IEEE (2013)
Afaghani, A.Y., Aiyama, Y.: On-line collision avoidance of two command-based industrial robotic arms using advanced collision map. Int. J. Robot. Mech. (JRM) 26(3), 321–330 (2014)
Afaghani, A.Y., Aiyama, Y.: Advanced-collision-map-based on-line collision and deadlock avoidance between two robot manipulators with PTP commands. In: 2014 IEEE International Conference on Automation Science and Engineering (CASE), pp. 1244–1251. IEEE (2014)
Montaño, A., Suárez, R.: An online coordination algorithm for multirobot systems In: 2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA), pp. 1–7. IEEE (2013)
Rodríguez, C., Montaño, A., Suárez, R.: Optimization of robot coordination using temporal synchronization. In: 2014 IEEE Emerging Technology and Factory Automation (ETFA), pp. 1–7. IEEE (2014)
Shin, Y., Bien, Z.: Collision-free trajectory planning for two robot arms. Robotica 7(03), 205–212 (1989)
Cheng, X.: On-line collision-free path planning for service and assembly tasks by a two-arm robot. In: 1995 IEEE International Conference on Robotics and Automation, Proceedings, vol. 2, pp. 1523–1528. IEEE (1995)
Wang, S., Bao, J., Fu, Y.: Real-time motion planning for robot manipulators in unknown environments using infrared sensors. Robotica 25(02), 201–211 (2007)
Li, Y., Liu, H., Ding, D.: Motion planning for robot manipulators among moving obstacles based on trajectory analysis and waiting strategy. In: SICE Annual Conference. IEEE, pp. 3020–3025 (2008)
Chiddarwar, S.S., Babu, N.R.: Conflict free coordinated path planning for multiple robots using a dynamic path modification sequence. Robot. Auton. Syst. 59(7), 508–518 (2011)
Vannoy, J., Xiao, J.: Real-time adaptive motion planning (RAMP) of mobile manipulators in dynamic environments with unforeseen changes. IEEE Trans. Robot. 24(5), 1199–1212 (2008)
Ennen, P., Ewert, D., Schilberg, D., et al.: Efficient collision avoidance for industrial manipulators with overlapping workspaces. Procedia CIRP 20, 62–66 (2014)
Freund, E., Hoyer, H.: Real-time pathfinding in multirobot systems including obstacle avoidance. Int. J. Robot. Res. 7(1), 42–70 (1988)
Warren, C.W.: Multiple robot path coordination using artificial potential fields. In: 1990 IEEE International Conference on Robotics and Automation, Proceedings, pp. 500–505. IEEE (1990)
Biagiotti, L., Melchiorri, C.: Trajectory Planning for Automatic Machines and Robots. Springer, Heidelberg (2008). doi:10.1007/978-3-540-85629-0
Acknowledgement
This work was supported by the National Natural Science Foundation of China under Grant Nos. 51535004, 51323009, 51375196 and 51405175.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Zhang, Y., Zhao, H., Ye, C., Ding, H. (2017). A Dynamic Real-Time Motion Planning Method for Multi-robots with Collision Avoidance. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_6
Download citation
DOI: https://doi.org/10.1007/978-3-319-65292-4_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65291-7
Online ISBN: 978-3-319-65292-4
eBook Packages: Computer ScienceComputer Science (R0)