Collision avoidance §

Dual-Arm Robot Motion Planning for Collision Avoidance Using B-Spline Curve §

Younsung Choi, et al., Hanyang University, International Journal of Precision Engineering and Manufacturing, 2017

• 任务：cellular phone packaging
• 规划的空间：Configuration space (C-space)
• Sampling based path planning algorithm的缺陷：因为是随机/依赖概率采样，路径不够平滑（extremely rough shape）
• 先通过概率的方式采样获得路径（如Adaptive RRT），再通过B-spline曲线对其进行平滑

Collision Avoidance of Two General Robot Manipulators by Minimum Delay Time §

Cheol Chang et al., Samsung Advanced Institute of Technology, IEEE Transactions on Systems, 1994

• 通过距离函数确定一个延迟时间，避免两个通用机械臂相撞

• 使用polyhedra对机械臂进行建模，碰撞检测为计算polyhedra之间的距离（采用了GJK算法？）

• 建立collision map

  • Traveling length versus sampling time (TLVST)

  In the map, on the horizontal axis is the sampling index for time and on the vertical axis is the cartesian traveling length of the gripper at the sampling instant. The TLVST curve represents the traveling length of the gripper of (Robot 2) along the time and it corresponds to the trajectory of . If the TLVST curve is changed, the trajectory of is also changed. But the trajectory of is not changed at all. That is, any change on the TLVST curve does not affect the trajectory of