(Georgia Institute of Technology, 2010-10)
Kunz, Tobias; Reiser, Ulrich; Stilman, Mike; Verl, Alexander; Georgia Institute of Technology. Center for Robotics and Intelligent Machines; Fraunhofer-Institut für Produktionstechnik und Automatisierung
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.