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Abstract

Collision detection in a multi-robot system. A 'map' of the 'world' is stored in memory. A collision map containing a desired robot move is created. The initial position of the desired robot is removed from the 'world' map by combining the robot map and the 'world' map in a logical exclusive-OR operation and thereafter combining the collision map and the 'world' map in a logical exclusive-OR operation followed by combining the collision map and the 'world' map in a logical 'inclusive-OR' operation in a byte-by-byte manner. A collision is indicated by a difference in any bit position of the inclusive and exclusive-OR combinations. The lack of any difference indicates that the move may be made. Similar logic operations are performed to partially and ultimately totally deallocate an allocated path and for considering alternative moves or partial moves responsive to the presence of a 'collision'. The method is performed using a computer which may be no more sophisticated than a conventional personal computer (i.e. PC) in which calculations are capable of being performed within a millisecond, which operating speed favorably compares with the movement of a robot which requires of the order of one second.

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First Claim