DocumentCode
273674
Title
Optimal collision-free path planning of two mobile robots
Author
Xue, Qing ; Sheu, Phillip
Author_Institution
Sch. of Electr. Eng., Purdue Univ., W. Lafayette, IN, USA
fYear
1988
fDate
29-31 Aug 1988
Firstpage
63
Lastpage
68
Abstract
An offline discrete-time collision-free path-planning scheme to allow two mobile robots to work in a common space is described. The problem is formalized as a minimax time collision-free path search problem. The degree of freedom of the problem is first reduced by applying the collision-free constraint. Subsequently, the solution is found by three levels of search. The golden-section search method is applied to reduce the amount of search required
Keywords
minimax techniques; robots; collision-free path planning; golden-section search; minimax time collision-free path search; mobile robots; Flexible manufacturing systems; Minimax techniques; Mobile robots; Orbital robotics; Partitioning algorithms; Path planning; Productivity; Search methods; Search problems; Tree data structures;
fLanguage
English
Publisher
ieee
Conference_Titel
Languages for Automation: Symbiotic and Intelligent Robots, 1988., IEEE Workshop on
Conference_Location
College Park, MD
Print_ISBN
0-8186-0890-0
Type
conf
DOI
10.1109/LFA.1988.24952
Filename
24952
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