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Collision avoidance in a multiple robot set up by polytree intersection method

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2 Author(s)
Ghoshray, S. ; Dept. of Electr. & Comput. Eng., Florida Int. Univ., Miami, FL, USA ; Yen, K.K.

In this research, we propose a new obstacle avoidance algorithm in which collision-free path for a robot is determined when a set of multiple robots are present in the workspace. The proposed obstacle avoidance algorithm is developed based upon the geometric modeling of the robot workspace using polytree data structure. Polytree is a hierarchical bisection of either a two-dimensional region or a three-dimensional space, based on some specific splitting rules. Our algorithm finds possible intersection between any configuration of a moving robot and the obstacles in the workspace by parallel traversal of integrated polytrees

Published in:
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on  (Volume:3 )

Date of Conference: 22-25 Oct 1995

Page(s):
2552 - 2557 vol.3
Meeting Date :
22 Oct 1995-25 Oct 1995
Print ISBN:
0-7803-2559-1
INSPEC Accession Number:
5132738
Conference Location :
Vancouver, BC
Digital Object Identifier :
10.1109/ICSMC.1995.538166
Product Type:
Conference Publications

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