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Collision avoidance trajectory planning for a dual-robot system: using a modified APF method

Published online by Cambridge University Press:  04 January 2024

Dong Yang Open the ORCID record for Dong Yang [Opens in a new window] ,
Li Dong  and
Jun Kang Dai
Dong Yang*
Affiliation:
School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China
Li Dong
Affiliation:
School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China Hefei Xinsheng Optoelectronics Technology Corporation Ltd, Hefei, 230012, China
Jun Kang Dai
Affiliation:
Hefei cement Research & Design Institute Corporation Ltd, Hefei, 230051, China
*
Corresponding author: Dong Yang; Email: yangdong@ahu.edu.cn
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Abstract

Dual-robot system has been widely applied to the field of handling and palletizing for its high efficiency and large workspace. It is one of the key problems of the trajectory planning to determine the collision avoidance method of the dual-robot system. In the present study, a collision avoidance trajectory planning method for the dual-robot system was proposed on the basis of a modified artificial potential field (APF) algorithm. The interference and collision criterion of the dual-robot system was given firstly, which was established based on the method of kinematic analysis in robotics. And then, in consideration of the problem of excessive virtual potential field force induced by using the traditional APF algorithm in the process of dual-robot trajectory planning, a modified APF algorithm was proposed. Finally, the modified APF algorithm was used for motion control of a dual-robot palletizing process, and the collision avoidance performance of the proposed collision avoidance algorithm was studied through a dual-robot palletizing simulation and experiment. The results have shown that with the proposed collision avoidance trajectory planning algorithm, the two robots in dual-robot system can maintain a safe distance at all times during palletizing process. Compared with the traditional APF and rapidly-exploring random tree (RRT) algorithm, the trajectory solution time of the modified APF algorithm is greatly reduced. And the modified APF algorithm’s convergence time is 14.2% shorter than that of the traditional APF algorithm.

Keywords

dual-robot systemcollision detectingtrajectory planningcollision avoidancemodified APF

Information

Type
Research Article
Information
Robotica , Volume 42 , Issue 3 , March 2024 , pp. 846 - 863
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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