Constrained Path Planning for Both Smooth Motion Profile and Stable Control

Abstract

In our era, human and machine must share the same workspace in various plants such as warehouse logistics, material transportation, manufacturing factory or assisted human. The collaboration is essential to maintain the safe operation and the complete mission. In this paper, a design of anti-vibration scheme using Spline generator for grounded vehicle platform in human-machine interaction is introduced. This hardware structure is able to play a role as carrier in loading application or human assistant in real life. In most of cases, vehicle must convey cargo from start point to destination instead of human while its reference trajectory conflicts with human's movement. The proposed algorithm helps to carry out a decision of stopping strategy with the least vibration as possible to avoid accident. From the test results, the proposed design is feasible and capable to apply in numerous industries.