Mechatronics pp 413-421 | Cite as

Dynamic and Interactive Path Planning and Collision Avoidance for an Industrial Robot Using Artificial Potential Field Based Method

  • A. Csiszar
  • M. Drust
  • T. Dietz
  • A. Verl
  • C. Brisan

Abstract

In this paper the dynamic path planning with collision avoidance of an industrial robot is addressed. The Artificial Potential Field (APF) method is used and, as a contribution, it has been expanded with obstacle-charges having different geometrical forms in order to positively influence the generated trajectory. Also an analysis method is presented that ensures that no violation of a specified safety envelope can occur around the obstacles. Implementation of the theoretical consideration and experimental validation using industrial equipment is shown.

Keywords

Mobile Robot Path Planning Collision Avoidance Obstacle Avoidance Industrial Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • A. Csiszar
    • 1
  • M. Drust
    • 2
  • T. Dietz
    • 2
  • A. Verl
    • 3
  • C. Brisan
    • 1
  1. 1.Department of Mechanisms, Precision Mechanics and MechatronicsTechnical University of Cluj NapocaCluj NapocaRomania
  2. 2.Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)StuttgartGermany
  3. 3.Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW)University of StuttgartStuttgartGermany

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