Configuration-time-space for Motion Planning in Dynamic Environment
Takashi KINAMI, Yuji Yamauchi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2021
A robot in a dynamic environment needs to avoid static obstacles and perform motion planning while considering dynamic obstacles. This paper presents a Configuration-time-space (C-time-space), in which time-series information is added to the configuration space (C-space). The C-time-space is represented by the mapping position and joint displacement of the robot at each time in the generalized coordinate space. Motion planning using the C-time-space can generate a trajectory that avoids dynamic obstacles. The experimental evaluation results indicate that compared to the conventional method, the trajectory distance of the robot arm can be shortened in environments where dynamic objects exist using the proposed method.