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A strategy for obstacle avoidance and its application to mullti-robot systems

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1 Author(s)
Tournassoud, P. ; INRIA, Cedex, France

We present a local method for obstacle avoidance based on the existence of extreme separating hyperplanes. Its application is then extended to the coordinated motion of several mobile robots, and to the avoidance of two manipulators. The techniques of local planning we develop here prove to be an interesting substitute to the potential field method, as they provide a simple geometric support for the analysis.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986