New Strategy of the Reciprocal Collision Avoidance of Collaborative Robots

This paper, presents a formal approach that addresses the reciprocal robots collision avoidance, where collaborative robots need to avoid collisions one with each other while moving in a common workspace. Based on our formulation, each physical robot acts fully independently, communicating with corresponding virtual prototype and imitating her behavior. Each physical robot reproduces the pathway of her virtual homonymous prototype. With a view to collision avoidance, it is necessary to detect a possible collision. This action includes the potentially intersecting regions test of the corresponding virtual prototypes. The estimation of the collision-free actions on the virtual robots and the collaborative work of the physical robots are the original ideas. Based on potentially intersecting regions of the virtual robots, we identified a collision-free motion corridor for each collaborative robot.