An Efficient Online Trajectory Generation Method Based on Kinodynamic Path Search and Trajectory Optimization for Human-Robot Interaction Safety.

ABSTRACT: With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional motion planning methods perform poorly in dynamic environments where obstacles motion is highly uncertain. In this paper, we propose an efficient online trajectory generation method to help manipulator autonomous planning in dynamic environments. Our approach starts with an efficient kinodynamic path search algorithm that considers the links constraints and finds a safe and feasible initial trajectory with minimal control effort and time. To increase the clearance between the trajectory and obstacles and improve the smoothness, a trajectory optimiz

SUBMITTER: Liu H 

PROVIDER: S-EPMC9141506 | biostudies-literature | 2022 May

REPOSITORIES: biostudies-literature