A Cooperative Obstacle-Avoidance Approach for Two-Manipulator Based on A* Algorithm

  • Jinlong Zhao
  • Yongsheng ChaoEmail author
  • Yiping Yuan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


During the movement process of two 6-dof manipulators, there may be collisions between manipulator and space obstacles or itself. To solve this problem, this paper use A* algorithm to finish the cooperative obstacle-avoidance path planning. Firstly, the model of obstacles is established. A* algorithm is used to plan a feasible path in the static obstacles environment for the main manipulator. Then, the virtual obstacles is set on the feasible path of the main manipulator. A* algorithm is applied to plan a feasible path for the second manipulator. In order to prevent the interference between the manipulators, ensure the smoothness of the manipulators in motion, and the time-energy optimum. By establishing the optimization model of inverse solutions, we realize the two-manipulator smooth motion without interference. Finally, the effectiveness of the algorithm is verified by simulation experiments.


Two-manipulator A* algorithm Collision Path smoothness Optimization model 



This Research was supported by National Natural Science Foundation of China (No. 51565058).


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Xinjiang UniversityUrumqiChina

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