Abstract: A method and apparatus for path planning and execution of movements of multiple mobile objects, such as robotic manipulators (64, 66), in a common workspace. Path planning at a relatively coarse scale yields, for each object, path definitions (24) in configuration space (c-space), which is an n-dimensional space, where there are n degrees of freedom of movement of each object. The coarse path definitions are interpolated to provide primary control signals (54) to execute object movements, in combination with collision avoidance control signals (56) derived from an artificial force field model (46) that generates repulsion forces based on mutual proximity of the objects. Path planning includes determining which subregions or cells of c-space are subject to potential collision, and selecting multiple trial path segments until a path is found around those cells.

Abstract: Method and system providing enhanced mechanical stability in an electrically-powered vehicle. The system includes an electrical power subsystem arranged on a vehicle structure. At least two counter-rotating energy storage flywheels are mounted to a flywheel mounting plate. Torque sensors are arranged between the flywheel mounting plate and the vehicle structure for sensing a net torque on the vehicle resulting from the pair of flywheels and generating a torque signal indicative thereof. A vehicle attitude sensor produces an attitude signal and detects disturbances to the vehicle. A vehicle attitude actuator and electronic processing equipment are connected to the pair of counter-rotating energy storage flywheels, the torque sensors, the vehicle attitude sensor, the vehicle attitude actuator, and the electrical power subsystem.