Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Voronoi diagrams—a survey of a fundamental geometric data structure
ACM Computing Surveys (CSUR)
Motion planning in the presence of moving obstacles
Journal of the ACM (JACM)
Robot Motion Planning
Dynamic Motion Planning for Mobile Robots Using Potential Field Method
Autonomous Robots
A Shortest Path Based Path Planning Algorithm for Nonholonomic Mobile Robots
Journal of Intelligent and Robotic Systems
A methodology to assess the acceptability of human-robot collaboration using virtual reality
Proceedings of the 19th ACM Symposium on Virtual Reality Software and Technology
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Until now, the presence of fences is a technological barrier for the adoption of robots in Small Medium Enterprises (SME). The work deals with the definition of an intrinsically safe algorithm to avoid collisions between an industrial manipulator and obstacles in its workspace (Standard ISO 10218-1). The suggested strategy aims to offer an industrial solution to the problem: an off-line analysis of the workspace is performed to have an exhaustive and intrinsically description of the static obstacles and a safe spatial grid of "pass-through points" is calculated; an on-line algorithm, based on an enhanced Artificial Potential Field evaluates the most suitable points to avoid collisions against obstacles and perform a realtime replanning the path of the robot. A Matlab toolbox that elaborates STL CAD files has been developed to obtain a full description of the workcell, and the avoidance algorithm has been designed and implemented in a standard industrial controller. Various experimental results are reported by using a COMAU NS16 arm manipulator.