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2021 | OriginalPaper | Buchkapitel

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

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

Erschienen in: Intelligent Robotics and Applications

Verlag: 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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Nächstes Kapitel The Analysis of Concurrent-Task Operation Ability: Peripheral-Visual-Guided Grasp Performance Under the Gaze

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Titel: Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment
verfasst von: Zhiqiang Wang
Jinzhu Peng
Shuai Ding
Mengchao Dong
Bo Chen
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-030-89097-1

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

Copyright-Jahr: 2021
DOI: https://doi.org/10.1007/978-3-030-89098-8_46

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