Home // INTELLI 2023, The Twelfth International Conference on Intelligent Systems and Applications // View article

Intelligent Motion Planning in Human-Robot Collaboration Environments

Authors:
Zahid Iqbal
Liliana Antão
Vı́tor Pinto
Gil Gonçalves

Keywords: collaborative robots, motion planning, sampling-based planning, MoveIt.

Abstract:
A robot needs to have adequate Artificial Intelligence (AI) support for operating as a human co-worker, making its behaviour flexible and autonomous. Applications and development methodology for collaborative robots (cobots) differ substantially from the norm of traditional robot applications marked by pre-programmed, repetitive tasks with well-defined behaviours and little or no autonomy on the part of the robot. We present a modular solution for application development for cobots. Intelligent workspace monitoring, motion planning, and re-planning make for essential solution components. Our solution incorporates safety by design, imparts the robotic arm a partly autonomous behaviour and is a step in the direction of collaborative interactions with the arm. We implement perception and planning as separate modules and demonstrate how these modules integrate. The main focus of the work is the motion planning component, developed in Robot Operating System (ROS) and MoveIt. The proposed framework can receive multiple goal points, monitor safety thresholds, and account for many humans in the workspace modelled as dynamic obstacles. In particular, we show path planning with obstacle avoidance and report some performance measurement results of different built-in planning algorithms

Pages: 19 to 26

Copyright: Copyright (c) IARIA, 2023

Publication date: March 13, 2023

Published in: conference

ISSN: 2308-4065

ISBN: 978-1-68558-064-3

Location: Barcelona, Spain

Dates: from March 13, 2023 to March 17, 2023