Csiszar, AkosAkosCsiszarDrust, ManuelManuelDrustDietz, ThomasThomasDietzVerl, AlexanderAlexanderVerlBrisan, CornelCornelBrisan2022-03-112022-03-112011https://publica.fraunhofer.de/handle/publica/37344910.1007/978-3-642-23244-2_50In 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.enindustrial robotpath planningKollisionsvermeidungBahnplanungIndustrieroboterconference paper