作業支援パートナロボットのための軌道計画

GMMに基づくサンプリングによるRRTアルゴリズムの計算時間の安定化

抄録

Collaborative robots that are able to coexist with workers are in demand, hence many companies have developed these robots recently. In our laboratory, we have developed assembly task partner robots beforehand. These robots need to avoid collisions with workers moving in the shared workspace. We have carried out collision avoidance motion planning using the RRT algorithm within the space where time axis is added to the C-space of robot. However, there was an issue that computation cost was unstable due to the random nature of RRT algorism. Therefore, we tried stabilizing the computation cost by choosing sampling points from probabilistically collision-free area that is modeled using GMM.