Human Interaction with Motion Planning Algorithm

Human Interaction with Motion Planning Algorithm

This paper presents an interactive motion planning system to compute free collision motion in a numerical model. The system is based on interaction between a user and a motion planning algorithm. On one hand the user moves the object with an interactive device and on the other hand a motion planning algorithm searches a solution in the configuration space. The interaction aims at improving the ...

Safe Motion Planning for Human - Robot Interaction : Design and Experiments

Robots have been successfully employed in industrial settings to improve productivity and perform dangerous or monotonous tasks. More recently, attention has turned to the use of robots to aid humans outside the industrial environment, in places such as the home or office. For example, as the population in the developed world ages, robots that can interact with humans in a safe and friendly man...

Human-Predictable Motion Planning

Parallel Motion Planning with the Ariadne's Clew Algorithm

A Genetic Algorithm for Robust Motion Planning

This paper proposes a solution by genetic algorithms to the problem of planning a robust and suboptimal trajectory in the velocity space of a mobile robot. Robust trajectories are obtained introducing cumulative noise in the evaluation of the fitness function and introducing modifications in the genetic algorithm to taking into account this new feature. Results are presented that show the perfo...