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Dynamic and Interactive Path Planning and Collision Avoidance for anIndustrial Robot Using Artificial Potential Field Based Method: Dynamic and Interactive Path Planning and Collision Avoidance for anIndustrial Robot Using Artificial Potential Field Based Method

. (2011)

Abstract

In this paper the dynamic path planning with collision avoidance of anindustrial robot is addressed. The Artificial Potential Field (APF) method isused and, as a contribution, it has been expanded with obstacle-chargeshaving different geometrical forms in order to positively influence thegenerated trajectory. Also an analysis method is presented that ensures thatno violation of a specified safety envelope can occur around the obstacles.Implementation of the theoretical consideration and experimental validationusing industrial equipment is shown.

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BibTeX key:
A.Csiszar2011
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