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Generation of Collision-Free Five-Axis Sweep Scanning Path Using Graphics Engine Read chapter Read first chapter

2021 | OriginalPaper | Chapter

Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment

Authors : Zhiqiang Wang, Jinzhu Peng, Shuai Ding, Mengchao Dong, Bo Chen

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

This paper presents an event-driven safe collision-free path planning method for robotic manipulator in human-robot cooperation. To meet the rapidity requirement of real-time robotic systems, the event-driven is introduced, and the collision prediction based on kinematics is used to trigger the rapid-exploring random tree (RRT) planner, while the quintic polynomial path planner is used when the event is not triggered. The fast planning and dynamical obstacle avoidance can be then achieved by the combination of quintic polynomial and RRT planner. By introducing the event-driven method, the safe collision-free path planning can be abstracted and standardized in human-robot cooperation. Finally, the simulation results show that the effectiveness of the proposed event-driven quintic-RRT path planning method.

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Metadata
Title
Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment
Authors
Zhiqiang Wang
Jinzhu Peng
Shuai Ding
Mengchao Dong
Bo Chen
Copyright Year
2021
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-030-89097-1

Electronic ISBN: 978-3-030-89098-8

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-3-030-89098-8_46

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