Toward efficient trajectory planning: the path-velocity decomposition
International Journal of Robotics Research
Hierarchical Data Structures and Algorithms for Computer Graphics. Part I.
IEEE Computer Graphics and Applications
OBBTree: a hierarchical structure for rapid interference detection
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Robot Motion Planning
IEEE Transactions on Knowledge and Data Engineering
Eighteenth national conference on Artificial intelligence
Artificial Intelligence
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Engineering Applications of Artificial Intelligence
Robotics and Autonomous Systems
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In this paper, a decoupled offline path planning approach for determining the collision-free path of end effectors of multiple robots involved in coordinated manipulation is proposed. The proposed approach for decoupled path planning is a two-phase approach in which the path for coordinated manipulation is generated with a coupled interaction between collision checking and path planning techniques. Collision checking is done by modelling the links and environment of robot using swept sphere volume technique and utilizing minimum distance heuristic for interference check. While determining the path of the end effector of robots involved in coordinated manipulation, the obstacles present in the workspace are considered as static obstacles and the links of the robots are viewed as dynamic obstacles by the other robot. Coordination is done in offline mode by implementing replanning strategy which adopts incremental A* algorithm for searching the collision-free path. The effectiveness of proposed decoupled approach is demonstrated by considering two examples having multiple six degrees of freedom robots operating in 3D work cell environment with certain static obstacles.