Real-Time Motion Planning by Sampling Points on Obstacles’ Surfaces Towards HRI

Abstract

For solving real-time motion planning problems in dynamic environments towards Human Robot Interaction (HRI), a method of sampling points on obstacles' surfaces to represent moving obstacle is proposed. In preprocessing phase, a mapping from cells in workspace into nodes and edges of the roadmap in configuration space (C-space) is constructed. The roadmap of C-space is constructed based on a PRM framework. In query phase, some determinate points on obstacles' surfaces are sampled, only the cells which contain at least one sampled point are mapped into the roadmap. Based on the method of sampling points on moving object's surfaces, the computationally complex processing of online cell decomposition is avoided. Simulation experiments with real parameters of Kawasaki manipulators by the methods of points sampling and cell decomposition for motion planning in dynamic environments are implemented. Experiments show that the proposed method is efficient and feasible for motion planning between moving obstacles and robot manipulators. Finally, simulation results of a real-time motion planning system for human robot interaction are given.