Navigating Dynamic Environments with Trajectory Deformation

Fraichard, Thierry; Delsart, Vivien

doi:10.2498/cit.1001157

Cited by 12 publications

(5 citation statements)

References 10 publications

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“…A search-based path planning is introduced using A* with directly executable motion primitives. In [8] a trajectory deformation scheme is presented that already uses elastic-band logic in configuration-time space. The approach directly optimizes the robot's trajectory using artificial forces that are designed to ensure feasibility regarding the robot's dynamic model.…”

Section: A Related Workmentioning

confidence: 99%

A predictive online path planning and optimization approach for cooperative mobile service robot navigation in industrial applications

Lopez

Abbenseth

Henkel

et al. 2017

2017 European Conference on Mobile Robots (ECMR)

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In this paper we address the problem of online trajectory optimization and cooperative collision avoidance when multiple mobile service robots are operating in close proximity to each other. Using cooperative trajectory optimization to obtain smooth transitions in multi-agent path crossing scenarios applies to the demand for more flexibility and efficiency in industrial autonomous guided vehicle (AGV) systems.We introduce a general approach for online trajectory optimization in dynamic environments. It involves an elastic-band based method for time-dependent obstacle avoidance combined with a model predictive trajectory planner that takes into account the robot's kinematic and kinodynamic constraints. We augment that planning approach to be able to cope with shared trajectories of other agents and perform an potential field based cooperative trajectory optimization.Performance and practical feasibility of the proposed approach are demonstrated in simulation as well as in real world experiments carried out on a representative set of path crossing scenarios with two industrial mobile service robots.

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Section: A Related Workmentioning

confidence: 99%

A predictive online path planning and optimization approach for cooperative mobile service robot navigation in industrial applications

Lopez

Abbenseth

Henkel

et al. 2017

2017 European Conference on Mobile Robots (ECMR)

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“…It is noted that such an approach would correspond to an efficient integration of the collision cone equations with a weighted Voronoi-based approach (Guruprasad and Ghose 2008). Trajectory deformation schemes (Fraichard and Delsart 2009) can also be integrated with the collision cone approach. Even a potential fields approach, where the less risky cone (or the longer cone) produces a lower repulsive force than the more risky cone (shorter cone), can be applied to handle this problem.…”

Section: Collision Avoidance In Closed Spacesmentioning

confidence: 99%

Generalization of the collision cone approach for motion safety in 3-D environments

Chakravarthy

Ghose

2011

Auton Robot

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Avoidance of collision between moving objects in a 3-D environment is fundamental to the problem of planning safe trajectories in dynamic environments. This problem appears in several diverse fields including robotics, air vehicles, underwater vehicles and computer animation. Most of the existing literature on collision prediction assumes objects to be modelled as spheres. While the conservative spherical bounding box is valid in many cases, in many other cases, where objects operate in close proximity, a less conservative approach, that allows objects to be modelled using analytic surfaces that closely mimic the shape of the object, is more desirable. In this paper, a collision cone approach (previously developed only for objects moving on a plane) is used to determine collision between objects, moving in 3-D space, whose shapes can be modelled by general quadric surfaces. Exact collision conditions for such quadric surfaces are obtained and used to derive dynamic inversion based avoidance strategies.

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“…The latter aspect also means that many of the collision-free path planning methods proposed in the literature (e.g., RRT/RRT-Connect and all of their variants [22], just to name the most well known) and even supported by state-of th e-art software libraries [23,24] cannot be straightforwardly used. Notable approaches introducing reaction capabilities into a path planning framework are those exploiting the elastic deformations of a specified geometric path, by applying repulsive forces [25] or adjusting traveling velocities along the path [26]. However, many robotic tasks in a dynamic environment cannot be specified a priori by a geometric path.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

et al. 2019

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The paper addresses the problem of the generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on a dynamical system to cope with the peculiar kinematics of surgical robots for laparoscopic operations, the mechanical constraint being enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in both simulated and experimental scenarios.Electronics 2019, 8, 957 2 of 24 requires addressing both technical and ethical/legal issues (see [6,7] for updated reviews). In particular, from the technological point of view, soft-tissue surgery in non-rigid anatomical environments forces taking into account hardly predictable scene changes, complicating the tasks of collision-free motion planning and physical environment interaction (i.e., contact with objects with unknown and even variable viscoelastic properties).The growth of investments in research and development projects for autonomous surgical robotics demonstrates the confidence and the expectations of the medical community regarding the benefits of such technologies. For example, the European Union has recently funded several projects related to the automation of surgical tasks, like I-SUR (Intelligent Surgical Robotics, FP7 Grant No. 270396, the automation of needle insertion and suturing tasks [8] by means of a dual-arm robot with hybrid parallel/serial kinematics. The cognitive control architecture proposed by I-SUR [9] was able to operate in either teleoperated [10] or autonomous mode [11], guaranteeing a stable switch between the two and an adaptive interaction with the environment in both modes [12]. The inherent relationship between surgical and industrial collaborative robotics is demonstrated by the fact that the same control methods (i.e., admittance control with variable dynamics) have also been applied by the same authors to enforce stability in pHRI [13,14]. Turning back to the specific case of the suturing task, the work presented in [11] proposed a motion planning solution based on a combination of previously-specified motion primitives for the dual-arm system, designed to mimic the bimanual gestures of a human surgeon, and collision-free paths generated with a plan-and-move strategy. Similar approaches to surgical robotic suturing were described in [15,16], investigating advanced learning techniques, or [17,18], addressing the task using more classical robot motion planning techniques and analytic geometry. Even though surgical suturing tasks have also been automated by designing specific devices, not mimicking at all human gestures [19], the solutions based on general-purpo...

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Navigating Dynamic Environments with Trajectory Deformation

Cited by 12 publications

References 10 publications

A predictive online path planning and optimization approach for cooperative mobile service robot navigation in industrial applications

A predictive online path planning and optimization approach for cooperative mobile service robot navigation in industrial applications

Generalization of the collision cone approach for motion safety in 3-D environments

Dynamic Motion Planning for Autonomous Assistive Surgical Robots

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