Collision-Free Local Path Planning: An Approach Using Skeletonization
Abstract
This study proposes an approach to find collision-free paths in dynamic environments, employing skeletonization. For this purpose, regions of interest are identified based on best driving criteria, prioritizing the smoothness of the route. We demonstrate that the free area skeleton generates trajectories equidistant from obstacles, avoiding collisions.References
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Batista, J. G., Ramalho, G. L. B., Torres, M. A., Oliveira, A. L., and Ferreira, D. S. (2023). ”collision avoidance for a selective compliance assembly robot arm manipulator using topological path planning”. Applied Sciences, 13(21).
Beom, H. and Cho, H. (1992). ”path planning for mobile robot using skeleton of free space”. IFAC Proceedings Volumes, 25(7):355–359. 7th IFAC Symposium on Information Control Problems in Manufacturing Technology (INCOM’92), Toronto, Ontario, Canada, 25-28 May 1992.
Borenstein, J. and Koren, Y. (1991). ”the vector field histogram-fast obstacle avoidance for mobile robots”. IEEE Transactions on Robotics and Automation, 7(3):278–288.
Campbell, S., O’Mahony, N., Carvalho, A., Krpalkova, L., Riordan, D., and Walsh, J. (2020). ”path planning techniques for mobile robots a review”. In 2020 6th International Conference on Mechatronics and Robotics Engineering (ICMRE), pages 12–16, Barcelona, Spain. IEEE.
Dobrokvashina, A., Sulaiman, S., Zagirov, A., Chebotareva, E., Kuo-Hsien, H., and Magid, E. (2022). ”human robot interaction in collaborative manufacturing scenarios: Prospective cases”. In 2022 International Siberian Conference on Control and Communications (SIBCON), pages 1–6, Tomsk, Russian Federation. IEEE.
El Makrini, I., Merckaert, K., Lefeber, D., and Vanderborght, B. (2017). ”design of a collaborative architecture for human-robot assembly tasks”. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 1624–1629, Vancouver, BC, Canada. IEEE.
Franklin, C. S., Dominguez, E. G., Fryman, J. D., and Lewandowski, M. L. (2020). ”collaborative robotics: New era of human–robot cooperation in the workplace”. Journal of Safety Research, 74:153–160.
Kavraki, L., Svestka, P., Latombe, J.-C., and Overmars, M. (1996). ”probabilistic roadmaps for path planning in high-dimensional configuration spaces”. IEEE Transactions on Robotics and Automation, 12(4):566–580.
Khatib, O. (1986). ”the potential field approach and operational space formulation in robot control”. In Adaptive and Learning Systems: Theory and Applications, pages 367–377. Springer, Boston, MA.
Lumelsky, V. and Stepanov, A. (1986). ”dynamic path planning for a mobile automaton with limited information on the environment”. IEEE Transactions on Automatic Control, 31(11):1058–1063.
Takahashi, O. and Schilling, R. (1989). ”motion planning in a plane using generalized voronoi diagrams”. IEEE Transactions on Robotics and Automation, 5(2):143–150.
Published
2024-11-05
How to Cite
TORRES, Marcelo A.; RAMALHO, Geraldo L. B..
Collision-Free Local Path Planning: An Approach Using Skeletonization. In: REGIONAL SCHOOL ON COMPUTING OF BAHIA, ALAGOAS, AND SERGIPE (ERBASE), 24. , 2024, Salvador/BA.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2024
.
p. 39-44.
DOI: https://doi.org/10.5753/erbase.2024.4436.
