Collision detection between robots moving along specified trajectories

Abstract

An algorithm to detect collisions between robots moving along given trajectories is presented. The method is a combination of the adaptive dynamic collision checking developed by Schwarzer et al. and Lin and Cannys algorithm, which computes efficiently the distance between two polyhedra. The resulting algorithm is part of a global model that computes the optimal task assignment, sequencing and kinodynamic motion planning in a robotic work-cell.