Time Optimal Collision Free Motion Planning for Multi-Robot Systems

A collision-free motion planning method for two robots operating in a three dimensional workspace is presented. The strategy for collision avoidance is based on the concept of a collision map which predicts potential collisions between robots moving along predetermined time optimal trajectories. The collision map is easily constructed, can cater for static as well as dynamic obstacles and is computationally efficient. Strategies for avoiding predicted collisions are discussed. Also simulation results for a two robot workcell are presented.