Collision Avoidance with KUKA youBot

Automatic path planning tasks in robotics can be modeled by suitable shortest path problems. A particular challenge is the computation of optimal paths in the presence of obstacles. For the detection of collisions of geometric bodies we use a linear programming approach, which exploits the Lemma of Gale.

The results have been obtained at the Chair of Engineering Mathematics at the University of the Federal Armed Forces (

The animation shows a collision-free optimal path of a KUKA youBot.