Human aware robot motion planning using RRT algorithm in industry4.0 environment

Aiswarya, L and Chowdhury, AR (2021) Human aware robot motion planning using RRT algorithm in industry4.0 environment. In: 2nd IEEE International Conference on Intelligence and Safety for Robotics, ISR 2021, 4-6 Mar 2021, virtual, Nagoya, pp. 351-358.

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Abstract

This work has been carried out to implement the Rapidly exploring Random Tree (RRT) Algorithm for designing a path in a 2D workspace cluttered with different human activities perceived as obstacles of different densities in a collaborative human-robot search operation-based Industry 4.0 environment. RRT based learning is an autonomous path planning algorithm suitable for perceiving environments with differential and non-holonomic constraints. Paths have been generated between an initial point, START to destination point, GOAL amidst uncertain temporal objects met when they are near and far. The algorithm starts to expand the search tree from the START node by randomly exploring the workspace until the GOAL is reached in the presence of these obstacles. The solution is a locus of points in the workspace between source and destination. This has been done for sparsely distributed human activity as obstacles encapsulating waypoint and lower and higher obstacle densities as observed in a real collaborative search environment. The generated paths were evaluated for closeness and impact of different kinds of dynamic obstacle configurations in a real experimental test bed. © 2021 IEEE.

Item Type:	Conference Paper
Publication:	ISR 2021 - 2021 IEEE International Conference on Intelligence and Safety for Robotics
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Agricultural robots; Industrial robots; Robotics; Trees (mathematics), Collaborative searches; Different densities; Experimental testbed; Non holonomic constraint; Obstacle densities; Path-planning algorithm; Rapidly-exploring random trees; Robot motion planning, Robot programming
Department/Centre:	Division of Mechanical Sciences > Centre for Product Design & Manufacturing
Date Deposited:	17 Aug 2021 09:12
Last Modified:	17 Aug 2021 09:12
URI:	http://eprints.iisc.ac.in/id/eprint/69182

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