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서석환 한국경영과학회 1989 한국경영과학회 학술대회논문집 Vol.- No.1
This paper deals with collision-avoidance trajectory planning for multiple robot environments where work areas of two or more manipulators intersect. Trajectory planning is composed of two stages: obstacle-avoidance path planning, followed by velocity planning. A CAD program, called MULYPATH, is developed based on a new concept of multi-robot path planning. The CAD system allows the user to generate a set of obstacle avoiding paths and "interference map" for multiple robots. The velocity planner then takes these paths to derive minimum-cost trajectories with dynamic programming technique. Practical application of the method is for optimal synthesis multiple robot trajectories in off-line.