Title :
A strategy for obstacle avoidance and its application to mullti-robot systems
Author :
Tournassoud, Pierre
Author_Institution :
INRIA, Cedex, France
Abstract :
We present a local method for obstacle avoidance based on the existence of extreme separating hyperplanes. Its application is then extended to the coordinated motion of several mobile robots, and to the avoidance of two manipulators. The techniques of local planning we develop here prove to be an interesting substitute to the potential field method, as they provide a simple geometric support for the analysis.
Keywords :
Envelope detectors; Information geometry; Manipulators; Mobile robots; Motion planning; Multirobot systems; Robot kinematics; Robot sensing systems; Sensor systems; Stereo vision;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087543