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Method and apparatus for achieving dynamic path control of multiple robots

  • US 5,247,608 A
  • Filed: 04/01/1991
  • Issued: 09/21/1993
  • Est. Priority Date: 04/01/1991
  • Status: Expired due to Term
First Claim
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1. A method for dynamically controlling the movement of each of a plurality of robots, each programmed to travel at least one path segment at a preselected velocity and acceleration, to avoid an interference with other robots, comprising the steps of:

  • (a) independently assigning to each of the robots a priority with respect to an order of movement of said robot relative to the other robots;

    (b) checking the likelihood that each robot, if it traverses a next successive incremental portion of its path segment, will interfere with every other robot;

    (c) enabling each robot which is found not to interfere with any of the others, to traverse the next successive incremental path segment portion;

    otherwise,(d) for each of the robots found likely to interfere with each other, enabling the robot having a priority higher than every other robot to traverse its next successive incremental path segment portion and causing each interfering robot having a lower priority to alter its motion to avoid interfering with said robot having a higher priority; and

    (e) repeatedly executing the steps (a)-(d).

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