Dynamic collision avoidance method for co-worker robot using time augmented configuration-space
Dynamic collision avoidance method for co-worker robot using time augmented configuration-space
复制标题
使用时间增广配置空间的同事机器人动态防撞方法
DOI：
10.1109/icma.2016.7558970
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
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作者：
Hisaka Wada;Akira Kanazawa;Kazuya Konada;Yuta Wakabayashi;Masaya Kamioka;Shuhei Kondo;J. Kinugawa;K. Kosuge
本文提出了一种汽车装配线上的同事及时零件/工具交付给你的机器人，PaDY。由于同事机器人共享一个工作空间，工人有与他们相撞的风险。因此，在操作这种机器人时必须考虑工人的安全。在以前的研究中，机器人一般会在检测到碰撞时停止以确保工人的安全，从而延迟工作过程。但是，如果机器人能够避免碰撞并继续顺利运行，工作进程将不会被延迟。因此，本文提出了一种新的动态避碰方法的同事机器人。在该方法中，我们利用马尔可夫模型和卡尔曼滤波器来预测工人的轨迹。我们定义的时间增强的配置空间的配置空间与时间轴，并使用它的障碍描绘和目标设定。采用快速探索的随机树搜索方法进行时间-空间扩展的轨迹规划。最后，我们模拟与工人的碰撞避免。这里提出的改进的碰撞避免机制是朝着允许工人和机器人共享工作空间迈出的一步，这将特别提高汽车行业的生产率。
This paper proposes a co-worker in-time Parts/tools Delivery to You robot, PaDY, in an automobile assembly line. Since co-worker robots share a workspace, the workers are at risk of colliding with them. Therefore, the safety of the workers has to be considered when operating such robots. In previous studies, the robot generally stops to ensure the worker's safety when a collision is detected, delaying the work process. However, if the robot can avoid the collision and continue to operate smoothly, the work process will not be delayed. Hence, this paper proposes a novel dynamic collision avoidance method for the co-worker robots. In this method, we utilize Markov model and Kalman filter to predict the trajectory of the workers. We define the Time Augmented Configuration-Space as the configuration space with a time axis and use it for obstacle depiction and goal setting. We applied rapidly-exploring random tree search method for trajectory planning in Time Augmented Configuration-Space. Finally, we simulate collision avoidance with workers. The improved collision avoidance mechanism proposed here is a step toward allowing workers and robots to share a workspace, which will enhance productivity in the automobile sector in particular.