抄録
This paper presents a deterministic method to resolve potential collisions between a robot and a human. The potential collisions between robots have been resolved by a collision detection tool, extended collision map. However, motion planning of robots is difficult to achieve when robots and humans coexist in a common space. To circumvent this difficulty, we are based on the decoupled motion planning and propose a collision resolution method, collision line which describes time-varying potential collisions in an extended collision map. Although we cannot exactly expect the movement of human, we can resolve the potential collisions using the proposed tool. In addition, our solutions from the tool are simple and definite for collision resolution since all possible collisions are classified into only four types. Thus, the proposed method would be applicable to most motion planners for robots in human existence.
