Home // INTELLI 2020, The Ninth International Conference on Intelligent Systems and Applications // View article

Roadmap-based Planning in Human-Robot Collaboration Environments

Authors:
Zahid Iqbal
João Reis
Gil Gonçalves

Keywords: robotics technology, intelligent robotics, sampling- based planning, perception and sensing, dynamic environments, voxel-based grid.

Abstract:
Enabling humans and robots to work together allows for cost savings and workplace efficiency. The robot must be equipped to perceive humans, and redirect its actions for cooperative tasks or under hazardous situations. Thus, dynamic motion planning appears as an essential exercise. We use dynamic roadmaps for online motion planning in changing environments combined with a voxel-based grid. The presented approach can answer path planning queries efficiently. Visualized simulation is an important technique for rapid verification of algorithms or prototypes. We present an architecture that implements a simulation of the robotic manipulator using the Robot Operating System (ROS) and MoveIt.

Pages: 1 to 7

Copyright: Copyright (c) IARIA, 2020

Publication date: October 18, 2020

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-61208-798-6

Location: Porto, Portugal

Dates: from October 18, 2020 to October 22, 2020