TY - GEN
T1 - Trajectory Planning in Time Augmented C-space Using RRT with Sampling Point Including Velocity Determined by Initial Conditions
AU - Wada, Hisaka
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
N1 - Funding Information:
*This work was supported by JSPS KAKENHI Grant Number JP110440. 1Hisaka Wada is research fellow of the Japan society for the promotion of science 2Hisaka Wada, Jun Kinugawa and Kazuhiro Kosuge are with Department of Robotics, Tohoku University, 6-6-01, Aoba, Ara-maki, Aoba-ku, Sendai 980-8579, JAPAN {wada, kinugawa, kosuge}@irs.mech.tohoku.ac.jp
Publisher Copyright:
© 2020 IEEE.
PY - 2020/1
Y1 - 2020/1
N2 - The introduction of collaborative robots is expected as one of the solutions for the labor shortage. To implement the collaborative robot in an industrial line, real-time motion planning is necessary to determine a robot's trajectory in order to consider the moving workers. In this paper, we propose a real-time trajectory planning method for co-worker robot based on the RRT in configuration-time space. Motion planning in configuration-time space is effective to avoid moving obstacles while considering robot dynamics and target reach time. In order to consider the dynamics of a robot in a time augmented configuration space, it is necessary to smoothly connect the robot velocities. The proposed method set the velocity of the sampling points depending on the initial condition in configuration-time space. In the simulation, we found that the proposed method has a higher success rate than the method without considering the velocity of the sampling points. Experiments using PaDY that we have developed show the effectiveness of the proposed method in an environment with two moving workers.
AB - The introduction of collaborative robots is expected as one of the solutions for the labor shortage. To implement the collaborative robot in an industrial line, real-time motion planning is necessary to determine a robot's trajectory in order to consider the moving workers. In this paper, we propose a real-time trajectory planning method for co-worker robot based on the RRT in configuration-time space. Motion planning in configuration-time space is effective to avoid moving obstacles while considering robot dynamics and target reach time. In order to consider the dynamics of a robot in a time augmented configuration space, it is necessary to smoothly connect the robot velocities. The proposed method set the velocity of the sampling points depending on the initial condition in configuration-time space. In the simulation, we found that the proposed method has a higher success rate than the method without considering the velocity of the sampling points. Experiments using PaDY that we have developed show the effectiveness of the proposed method in an environment with two moving workers.
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U2 - 10.1109/SII46433.2020.9025821
DO - 10.1109/SII46433.2020.9025821
M3 - Conference contribution
AN - SCOPUS:85082614876
T3 - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
SP - 170
EP - 175
BT - Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/SICE International Symposium on System Integration, SII 2020
Y2 - 12 January 2020 through 15 January 2020
ER -