A coordinated motion planner among moving machines and objects

In this paper a coordinated motion planner is proposed for coordinating collision-free motion among dynamic moving objects or machines in a shared space. Based on the concept of path-velocity decomposition proposed by Kant and Zucker (1988), an algorithm is developed for evaluating performance of different motion strategies. The developed motion planner will coordinate collision-free motion for multiple uncontrollable/controllable objects moving in a shared environment. A dynamic object can be a vehicle or multibody object such as a robot. The applicability of the proposed approach is demonstrated through examples. The author´s result shows that multiple controllable machines can be controlled and scheduled efficiently in avoiding collision with uncontrollable machines and objects in an environment