| 摘要 |
Dynamic control of the motion of a plurality of robots (12a and 12b) is accomplished by checking for interference if each robot were to traverse an incremental portion of its programmed path segment, the incremental portion being at least as long as the distance required for the robot to stop. Should there be no interference, each robot is allowed to traverse the incremental path length portion. Otherwise, the robot having the highest priority is enabled to reverse its incremental path segment portion while the other robots which would otherwise interfere are ordered to take evasive action, either to stop if moving, or to move away if stopped. Periodic checks are made for an interference condition at a sufficiently rapid rate so that each non-interfering robot can traverse successive incremental path segment portions in a smooth manner.
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