A collision-free path planning method for industrial robot manipulators considering safe human–robot interaction


Intelligent Service Robotics, vol.16, no.3, pp.323-359, 2023 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 16 Issue: 3
  • Publication Date: 2023
  • Doi Number: 10.1007/s11370-023-00465-7
  • Journal Name: Intelligent Service Robotics
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Compendex, Psycinfo
  • Page Numbers: pp.323-359
  • Keywords: Collision avoidance, Human–robot interaction, Minimum distance calculation, Path planning, Robot manipulator
  • Eskisehir Osmangazi University Affiliated: Yes


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.