Communication Dans Un Congrès Année : 2021

Anytime informed path re-planning and optimization for human-robot collaboration

Résumé

Robots working in proximity of humans often need to change their motion to avoid collisions and interference with the operators. This paper uses a path re-planning approach to change the robot path online when the human operator is in the robot way. The method exploits a set of pre-computed paths to compute a new feasible path in case of obstruction to enhance the trajectory's readability. Moreover, the algorithm iteratively optimizes the current solution in an anytime fashion to deal with strict computing time requirements. Experimental results show the method's effectiveness in a collaborative cell, compared with industry best practices.

Fichier principal
Vignette du fichier
Tonola_et_al__RO_MAN_2021(2).pdf (1.34 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-04052752 , version 1 (30-03-2023)

Licence

Identifiants

Citer

Cesare Tonola, Marco Faroni, Nicola Pedrocchi, Manuel Beschi. Anytime informed path re-planning and optimization for human-robot collaboration. 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), Aug 2021, Vancouver, Canada. pp.997-1002, ⟨10.1109/RO-MAN50785.2021.9515422⟩. ⟨hal-04052752⟩
47 Consultations
285 Téléchargements

Altmetric

Partager

  • More