An automated collision-avoidance motion planner among moving objects or machines

An automated motion planner is proposed for coordinating collision-free motions among dynamic moving objects or machines in a 3D space. Based on the concept of modified path-velocity decomposition, an algorithm is proposed for evaluating the performance of different motion strategies. As a result, the motion planner coordinates collision-free motions for multiple uncontrollable/controllable objects moving in a shared environment. A dynamic object can also be a multibody object such as a robot. The applicability of the proposed approach is demonstrated through two examples. The results show that multiple controllable and uncontrollable machines can work together in an industrial environment by efficiently avoiding collisions