An approach for collision-free trajectory planning along designated paths of two robots in a common workspace is presented.
Specifically, in order to describe potential collision between the links of two robots along the designated paths, explicit forms of virtual obstacle are adopted, according to which links of one robot are made to grow while the other robot is forced to shrink as a point on the path.
Then a notion of coordination space is introduced to visualize all the collision-free coordinations of two robots and a problem is formulated and resolved in order to find the optimal coordination curve which trade off between safety of two robots and difference of degree of accomplishment.
To find actual trajectories for the two robots, the minimum time collision-free trajectory pair is sought along the chosen collision-free coordination curve considering dynamic constraints of torque and velocity bounds of actuators of the two robot.
