Wrist collision avoidance of two robots: A collision map and time scheduling approach

This research presents an approach to collision-free motion planning of two moving robots in a common workspace. Due to the distinct nature of the potential collisions between the two moving robots, a new classification of collision situations is presented and utilized for planning a collision-free path. Notions of a collision map and time scheduling are developed and applied for realizing a collision-free motion planning. An example is shown for the time scheduling of the trajectory, which shows the significance of the proposed approach in collision-free motion planning of the two moving robots.