Dynamic collision avoidance method for co-worker robot using time augmented configuration-space

Wada, Hisaka; Kanazawa, Akira; Konada, Kazuya; Wakabayashi, Yuta; Kamioka, Masaya; Kondo, S.; Kinugawa, Jun; Kosuge, Kazuhiro

doi:10.1109/icma.2016.7558970

Cited by 5 publications

(4 citation statements)

References 12 publications

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“…The TAC-space was proposed based on predicted motions of multiple obstacles [22]. It is an implementation of the CT -space [21] with multiple moving obstacles.…”

Section: Time-augmented C-spacementioning

confidence: 99%

“…To reduce the computation time of the C-space and make the real-time implementation possible, we divide the workspace into cells via a two-dimensional grid. In our previous study [22], the workspace was divided into 0.1 m × 0.1 m square cells. The cell where the worker assisted by PaDY exists is predicted using the Markov model, and Kalman filter is used to predict the cells of the other workers in the workspace.…”

Section: Time-augmented C-spacementioning

confidence: 99%

“…The velocityq j,m is the weighted average of the average velocity from the start configuration to sampling point and the average velocity from the sampling point to goal configuration. Substituting Equations (21), (22), (23), and (24) into Equation 20, we have the following:…”

Section: Trajectory Planning In Tlc-spacesmentioning

confidence: 99%

“…This paper is organized as follows. Section 2 reviews the configuration-time space (CT -space) [21] and its implementation as Time-augmented C-space (TACspace) [22]. Section 3 proposes time-layered C-spaces (TLC-spaces) for efficient motion planning in the case of moving obstacles while considering motion constraints of the robot.…”

Section: Introductionmentioning

confidence: 99%

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Reactive motion planning using time-layered C-spaces for a collaborative robot PaDY

2021

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A reactive motion-planning for collaborative robots using the time-layered C-spaces (TLC-spaces) is proposed in this paper. First, the time-augmented C-space (TAC-space) is introduced. TAC-space is an implementation of the configuration-time space with multiple moving obstacles [Latombe JC. Robot motion planning. Kluwer Academic; 1991. p. 22, 23]. The TAC-space is obtained by stacking the current and predicted future C-spaces along the time axis using predicted motions of the obstacles. Then, TLC-spaces is constructed as the collection of only those C-spaces in the TAC-space that are relevant to the motion planning with moving obstacles. The trajectory that reaches the goal configuration at the specified target time is generated under dynamic constraints including robot velocity and acceleration. We focus on a collaborative robot, PaDY, whose task is to deliver tools and parts to the worker in a factory. Similar to an actual assembly process in an automobile production system, six scenarios are selected for the evaluation of the proposed motion planning method. The simulation results using the real-life motion of workers show that the computation time required for the proposed motion planning using TLC-spaces is shorter than that of our previous method using TACspace. The experimental results show that the proposed method is applicable to PaDY in human environments.

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“…The TAC-space was proposed based on predicted motions of multiple obstacles [22]. It is an implementation of the CT -space [21] with multiple moving obstacles.…”

Section: Time-augmented C-spacementioning

confidence: 99%

Section: Time-augmented C-spacementioning

confidence: 99%