Anticipatory and Reactive Motion Planning for Close-Proximity Human-Robot Interaction
Author(s)
Vegesna, Nitin V.
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
Human-Robot Collaboration in close-proximity environments requires precise motion planning for an effective partnership between the human and robot. This thesis introduces the motion planning system Real-time Collaboration via Multi-Objective Trajectory Optimization, which possesses both anticipatory and reactive motion planning traits, effectively making it able to plan in real-time. Our real-time motion-planning framework optimizes on a set of both task-based and human-based cost functions. We then formulate a Nonlinear Model-Predictive Control problem and use trajectory optimization to find local optimal solutions for the objective function to optimize the trajectory for small time horizons. This thesis goes in-depth about how the system separates itself from prior work in the field.
Sponsor
Date
Extent
Resource Type
Text
Resource Subtype
Undergraduate Research Option Thesis