A real-time safe path planning system for cooperative robots

Cobot Pub Date : 2022-05-11 DOI:10.12688/cobot.17505.1

Yan He, Tao Lu, Yinghao Cai

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Abstract

Background: A cooperative robot is a robot requested to co-work with humans efficiently and safely in an environment with flexible arrangements. Safe path planning is a crucial issue which must be resolved during human-robot cooperation. In this paper, we present a safe path planning system that could plan the manipulation path in real-time based on the environmental changes and guarantees safety when the robot interacts with the environment and humans. Methods: In this system, we first build a real-time obstacle Octomap from the environment RGB-D (red green blue-depth) images, which can effectively differentiate the robot from other obstacles in the environment and eliminate the robots influence during the map building. And then, we adopt the rapidly exploring random trees-Connect method to plan the safe path in the Octomap. When the planning path is obstructed by the dynamic objects, the system will re-plan the new safe path based on the changed Octomap. Results: The experimental results show that our system can effectively avoid obstacles in a dynamic environment and safely reach the manipulation destination. Conclusions: We propose a real-time safe path planning system for cooperative robots, which can guarantee the safety of manipulation.

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协作机器人实时安全路径规划系统

背景：协作机器人是一种被要求在灵活安排的环境中高效、安全地与人类合作的机器人。安全路径规划是人机合作中必须解决的一个关键问题。在本文中，我们提出了一种安全的路径规划系统，该系统可以根据环境变化实时规划操作路径，并保证机器人与环境和人类交互时的安全。方法：在该系统中，我们首先从环境RGB-D（红-绿-蓝深度）图像构建了一个实时的障碍物Octopap，该图像可以有效地将机器人与环境中的其他障碍物区分开来，并消除机器人在地图构建过程中的影响。然后，我们采用快速探索随机树连接的方法来规划八爪图中的安全路径。当规划路径被动态对象阻挡时，系统将根据更改后的Octopap重新规划新的安全路径。结果：实验结果表明，该系统能够有效地避开动态环境中的障碍物，安全地到达操纵目的地。结论：我们提出了一种用于协作机器人的实时安全路径规划系统，该系统可以保证操作的安全性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Cobot collaborative robots-

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期刊介绍： Cobot is a rapid multidisciplinary open access publishing platform for research focused on the interdisciplinary field of collaborative robots. The aim of Cobot is to enhance knowledge and share the results of the latest innovative technologies for the technicians, researchers and experts engaged in collaborative robot research. The platform will welcome submissions in all areas of scientific and technical research related to collaborative robots, and all articles will benefit from open peer review. The scope of Cobot includes, but is not limited to: ● Intelligent robots ● Artificial intelligence ● Human-machine collaboration and integration ● Machine vision ● Intelligent sensing ● Smart materials ● Design, development and testing of collaborative robots ● Software for cobots ● Industrial applications of cobots ● Service applications of cobots ● Medical and health applications of cobots ● Educational applications of cobots As well as research articles and case studies, Cobot accepts a variety of article types including method articles, study protocols, software tools, systematic reviews, data notes, brief reports, and opinion articles.