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Dynamic Motion Planning Algorithm in Human-Robot Collision Avoidance

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11745))

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Abstract

The collision-free robotic motion planning algorithm in a dynamic environment is an effective method for the prevention of collision in a human-robot interaction scenario. In this paper, an improvement of the Rapidly-exploring Random Tree (RRT) algorithm is proposed to avoid the potential collision between robot and human by taking the costmap of robot workspace into consideration. The depth camera and Kalman filter are applied to estimate the positions and velocities of dynamic obstacles. The main contribution of this paper is that the spatiotemporal information of moving obstacles is integrated into the robotic motion planning algorithm with the costmap of workspace. Besides, a new costmap generation method is designed based on the velocities of moving obstacles. Finally, a local replanning method is used to accelerate the robotic motion planning algorithm. Experimental results show that the proposed method can efficiently protect human workers from colliding with the robot and the robot can dynamically generate a collision-free path in the human-robot coexisting environment.

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Acknowledgments

This work is partially supported by National Natural Science Foundation of China (51775344).

Author information

Authors and Affiliations

  1. State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Lei Zhu, Zijing Chi, Fan Zhou & Chungang Zhuang

Authors
  1. Lei Zhu
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  2. Zijing Chi
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  3. Fan Zhou
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  4. Chungang Zhuang
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Corresponding author

Correspondence to Chungang Zhuang .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Zhu, L., Chi, Z., Zhou, F., Zhuang, C. (2019). Dynamic Motion Planning Algorithm in Human-Robot Collision Avoidance. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_55

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  • DOI: https://doi.org/10.1007/978-3-030-27529-7_55

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27528-0

  • Online ISBN: 978-3-030-27529-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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