Selection of Strategies for Collision-free Motion in Multi-manipulator Systems |
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Authors: | Margarita Mediavilla Juan-Carlos Fraile Ignacio J Galindo M Teresa González |
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Affiliation: | (1) Departamento de Ingeniería de Sistemas y Automática, E.T.S.I.I., Universidad de Valladolid, Spain |
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Abstract: | Strategy-based path planning was introduced by the authors as a way to give robotic manipulators some sort of reactive behaviour in dynamic and unpredictable environments. This approach is based on making robots react to moving obstacles using a restricted subset of the configuration space, and on using an off-line pre-planning stage to choose the restricted subset. In this paper, strategy-based path planning is applied and explored, focusing our attention on the off-line stage. It is applied to the joint motion of two and three robots that perform pick and place tasks sharing common working areas. |
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Keywords: | path planning reactive dynamic environments on-line motion robot manipulators |
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