An approach to robot motion planning for time-varying obstacle avoidance using the view-time concept

Abstract

SUMMARY An analytic solution approach to the time-varying obstacle avoidance problem is adopted. The problem considers the collision between any link of the robotic manipulator and the time-varying obstacle. The information on the motion and shape change of the obstacle is given prior to robot motion planning. To facilitate the problem, we analyze and formulate it mathematically in a robot joint space. We then introduce the view-time concept and analyze its properties. Using the properties of the view-time , a view-time based motion planning method is proposed. The view-time based method plans the robot motion by units of the view-time. In every view-time, it uses a stationary obstacle avoidance scheme. The proposed method is applied to the motion planning of a 2 DOF robotic manipulator in an environment with a polyhedral moving obstacle.