Issue No.01 - January-March (1998 vol.6)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/4434.656781
The authors present a straightforward method to handle collision avoidance among multiple robot manipulators. The method allows manipulators to move from a specified starting point to a goal without colliding with any other manipulators or objects in their 3D environment. Potential fields guide the end-effector through Cartesian space, and parallel genetic algorithms calculate suitable joint variables for the manipulator trajectory.
Mark A.C. Gill, "A Parallel Collision-Avoidance Algorithm for Robot Manipulators", IEEE Concurrency (out of print), vol.6, no. 1, pp. 68-78, January-March 1998, doi:10.1109/4434.656781