Akademik Veri Yönetim Sistemi
Intelligent Service Robotics, cilt.16, sa.3, ss.323-359, 2023 (SCI-Expanded)
This paper introduces a new method to solve the collision-free path planning problem for industrial robots considering safe human–robot coexistence. The aim is to keep the robot at a safe distance away from the human and let the robot’s tip reach the target location through a smooth path. The proposed method is iterative, and each iteration provides random candidate waypoints for the robot’s tip. The waypoint that the robot will follow for each iteration is determined by solving the optimization problem. The objective function is formulated considering the distance between the human and the robot, as well as the criteria for the robot’s tip to reach the target by following a smooth path. The human and the robot in the environment are represented by the capsules, and the minimum distance calculation is performed between these capsules using the Gilbert–Johnson–Keerthi algorithm. The simulation results demonstrate the performance of the proposed method for different scenarios involving human–robot coexistence.