Dynamic and interactive path planning and collision avoidance for an industrial robot using artificial potential field based method

In this paper the dynamic path planning with collision avoidance of an industrial robot is addressed. The Artificial Potential Field (APF) method is used and, as a contribution, it has been expanded with obstacle-charges having different geometrical forms in order to positively influence the generated trajectory. Also an analysis method is presented that ensures that no violation of a specified safety envelope can occur around the obstacles. Implementation of the theoretical consideration and experimental validation using industrial equipment is shown