A method for planning collision free trajectories for two cooperating robotsRobotic systems designed specifically for space applications often exhibit a high level of autonomy to reduce the costs associated with having humans in space. This paper presents a method for autonomously planning collision free paths for two cooperating robots in a static environment. The method performs selective mapping of configuration space while attempting to locate a safe path. The method is based around an algorithm aimed at transversing a space of arbitrary dimension which contains both safe and unsafe regions. While the procedure cannot guarantee finding a solution even if one may exist, it is intended to find a solution to many practical path planning problems within a reasonable amount of time. Results are presented for applying the procedure to two cooperating six degree of freedom manipulators (Puma 560s).
Document ID
19920056141
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Weaver, Jonathan M. (NASA Headquarters Washington, DC United States)
Derby, Stephen J. (Rensselaer Polytechnic Institute, Troy, NY, United States)