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Real-time path planning for a robot arm in changing environments

 
: Kunz, Tobias; Reiser, Ulrich; Stilman, Mike; Verl, Alexander

:

Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan -RSJ-:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 : October 18-22, 2010, Taipei, Taiwan
New York, NY: IEEE, 2010
ISBN: 978-1-4244-6676-4
ISBN: 978-1-4244-6674-0
ISBN: 1-4244-6674-1
ISBN: 978-1-4244-6675-7
S.5906-5911
International Conference on Intelligent Robots and Systems (IROS) <23, 2010, Taipei>
Englisch
Konferenzbeitrag
Fraunhofer IPA ()
robot arm; dynamic environment; path planning; Care-O-Bot; DESIRE

Abstract
We present a practical strategy for real-time path planning for articulated robot arms in changing environments by integrating PRM for Changing Environments with 3D sensor data. Our implementation on Care-O-Bot 3 identifies bottlenecks in the algorithm and introduces new methods that solve the overall task of detecting obstacles and planning a path around them in under 100 ms. A fast planner is necessary to enable the robot to react to quickly changing human environments. We have tested our implementation in real-world experiments where a human subject enters the manipulation area, is detected and safely avoided by the robot. This capability is critical for future applications in automation and service robotics where humans will work closely with robots to jointly perform tasks.

: http://publica.fraunhofer.de/dokumente/N-151916.html