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Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment

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Intelligent Robotics and Applications (ICIRA 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13014))

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Abstract

This paper presents an event-driven safe collision-free path planning method for robotic manipulator in human-robot cooperation. To meet the rapidity requirement of real-time robotic systems, the event-driven is introduced, and the collision prediction based on kinematics is used to trigger the rapid-exploring random tree (RRT) planner, while the quintic polynomial path planner is used when the event is not triggered. The fast planning and dynamical obstacle avoidance can be then achieved by the combination of quintic polynomial and RRT planner. By introducing the event-driven method, the safe collision-free path planning can be abstracted and standardized in human-robot cooperation. Finally, the simulation results show that the effectiveness of the proposed event-driven quintic-RRT path planning method.

Supported by the National Natural Science Foundation of China (Grant No. 61773351), and the Program for Science & Technology Innovation Talents in Universities of Henan Province (Grant No. 20HASTIT031).

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Authors and Affiliations

  1. School of Electrical Engineering, Zhengzhou University, Zhengzhou, 450001, China

    Zhiqiang Wang, Jinzhu Peng, Shuai Ding, Mengchao Dong & Bo Chen

Authors
  1. Zhiqiang Wang
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  2. Jinzhu Peng
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  3. Shuai Ding
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  4. Mengchao Dong
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  5. Bo Chen
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Corresponding author

Correspondence to Jinzhu Peng .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Xin-Jun Liu

  2. Tsinghua University, Beijing, China

    Zhenguo Nie

  3. Beihang University, Beijing, China

    Jingjun Yu

  4. Tsinghua University, Beijing, China

    Fugui Xie

  5. Shandong University, Shandong, China

    Rui Song

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Wang, Z., Peng, J., Ding, S., Dong, M., Chen, B. (2021). Event-Driven Collision-Free Path Planning for Cooperative Robots in Dynamic Environment. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_46

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  • DOI: https://doi.org/10.1007/978-3-030-89098-8_46

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-89097-1

  • Online ISBN: 978-3-030-89098-8

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