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Safety-oriented path planning for articulated robots

Published online by Cambridge University Press:  21 February 2013

Bakir Lacevic  and
Paolo Rocco
Bakir Lacevic*
Affiliation:
University of Sarajevo, Faculty of Electrical Engineering, Sarajevo, Bosnia and Herzegovina
Paolo Rocco
Affiliation:
Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Milano, Italy
*
*Corresponding author. E-mail: bakir.lacevic@etf.unsa.ba
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Summary

This work presents an approach to motion planning for robotic manipulators that aims at improving path quality in terms of safety. Safety is explicitly assessed using the quantity called danger field. The measure of safety can easily be embedded into a heuristic function that guides the exploration of the free configuration space. As a result, the resulting path is likely to have substantially higher safety margin when compared to one obtained by regular planning algorithms. To this end, four planning algorithms have been proposed. The first planner is based on volume trees comprised of bubbles of free configuration space, while the remaining ones represent modifications of classical sampling-based algorithms. Several numerical case studies are carried out to validate and compare the performance of the presented algorithms with respect to classical planners. The results indicate significantly lower danger metric for paths obtained by safety-oriented planners even with some decrease in running time.

Keywords

Motion PlanningPath PlanningRedundant ManipulatorsSafety
Type
Articles
Information
Robotica , Volume 31 , Issue 6 , September 2013 , pp. 861 - 874
Copyright
Copyright © Cambridge University Press 2013 

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