Conflict free coordinated path planning for multiple robots using a dynamic path modification sequence

Chiddarwar, Shital S.; Babu, N. Ramesh

doi:10.1016/j.robot.2011.03.006

Cited by 44 publications

(22 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [21], trajectories of cooperating robots are represented as the n th order polynomials whose parameters are optimized with genetic algorithms under the robot's dynamic constraints. A two phase approach which uses an incremental A* algorithm to search the configuration space-time for the path planning of multiple robots is shown in [22]. Collision avoidance for redundant manipulators has also been a special subject of different papers [23][24][25].…”

Section: Separation Distancementioning

confidence: 99%

Position planning for collaborating robots and its application in neurosurgery

et al. 2017

View full text Add to dashboard Cite

Original scientific paper Applications of robot manipulators in surgery are nowadays a very actual field of research. Still, there are a number of technical problems when setting and preparing robotical systems for various operation procedures. One of them is the robot-patient placement. When placing robots in respect to known target working positions it is crucial to assure feasible positioning where all required motions can be executed with no kinematic or collision problems. A planning method for robot placement suitable for neurosurgical operations is presented in this paper. The planning method is based on a multi-objective cost function which is composed of criteria that balance dexterity properties with a novel collision avoiding parameter. Use of the planning approach is implemented and validated on a dual arm robot setup. Keywords: robot; collaboration; position planning; neurosurgery Planiranje prostornog razmještaja suradničkih robota i njihova primjena u neurokirurgijiIzvorni znanstveni članak Primjena robotskih manipulatora u medicini danas je vrlo aktualno područje istraživanja. Unatoč tome još uvijek postoji velik broj problema koji se javljaju kod pripreme većine robotiziranih operacijskih postupaka. Jedan od glavnih je pozicioniranje robota u odnosu na pacijenta. Kod postavljanja robota u odnosu na unaprijed poznate radne točke potrebno je osigurati efikasnu poziciju robota iz koje se sve zadane kretnje mogu izvršiti bez kinematskih problema i kolizija. U radu je predstavljena metoda za planiranje prostornog razmještaja robota prikladna za primjenu u neurokirurgiji. Razvijena metoda počiva na višeciljnoj optimizaciji funkcije cilja koja je sastavljena od kriterija koji objedinjuju prostornu upravljivost robota sa izbjegavanjem kolizija. Primjena razvijene metode validirana je na dvoručnom sustavu robota.

show abstract

Section: Separation Distancementioning

confidence: 99%

Position planning for collaborating robots and its application in neurosurgery

et al. 2017

View full text Add to dashboard Cite

show abstract

“…Lee et al [10] proposed an event-based approach for on-line and off-line collision-free trajectory planning for dual-arm assembly systems based on a fast geometric collision detection algorithm. More recently, Chiddarwar and Babu [4] introduced a method that solves the robot conflicts based on a path modification approach. The conflictive paths are modified based on the robot positions in a dynamically computed path modification sequence.…”

Section: Related Workmentioning

confidence: 99%

An on-line coordination algorithm for multi-robot systems

Montano

Suárez

2013

2013 IEEE 18th Conference on Emerging Technologies &Amp; Factory Automation (ETFA)

View full text Add to dashboard Cite

This paper proposes a solution to the problem of coordinating multi-robot systems, which execute individually planned tasks in a shared workspace. The presented approach is a decoupled method that can coordinate the\ud participants robots in on-line mode. The coordination is achieved through the adjustment of the time evolution of\ud each robot along its original planned path according to the movements of the other robots to assure a collision free execution of their tasks. To assess the proposed approach a two robot system was used, and different tests were performed in graphical simulations as well as in real executions. Some examples are presented in the paper.Postprint (author’s final draft

show abstract

“…Path coordination planner [1,2,18] decomposes the planning problem into path planning and velocity planning. In the first step, the path planning generates individual robot paths independently, using any common single robot path planners.…”

Section: Previous Workmentioning

confidence: 99%

Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS

Shwail

Karim

Turner

2013

IJCA

View full text Add to dashboard Cite

In this paper, a probabilistic roadmap planner algorithm with the multi robot path planning problem have been proposed by using the A* search algorithm in a dynamic environment. The whole process consists of two phases. In the first phase: Preprocessing phase, the work space is converted into the configuration space, constructing a probabilistic roadmap graph in the free space, and finding the optimal path for each robot using a global planner that avoids the collision with the static obstacles. The second phase: Moving phase, moves each robot in a prioritized manner from its starting point to its ending point through a near optimal path with avoiding collision with the moving obstacles and the other robots. A comparison has been done with the depth first algorithm to see the difference. The simulation results shows that choosing A* search algorithm affect positively the speed of the two phases together in comparison to the depth first search algorithm. General TermsArtificial intelligence, Robot path planning.

show abstract

Conflict free coordinated path planning for multiple robots using a dynamic path modification sequence

Cited by 44 publications

References 21 publications

Position planning for collaborating robots and its application in neurosurgery

Position planning for collaborating robots and its application in neurosurgery

An on-line coordination algorithm for multi-robot systems

Probabilistic Multi Robot Path Planning in Dynamic Environments: A Comparison between A* and DFS

Contact Info

Product

Resources

About