A modular and sensor-oriented motion planner

Abstract

The motion planner presented in this paper enables the user to design movements in an interactive way, and to integrate sensor signals efficiently. In addition to the usual movements bound to a path, which can now be combined like lego pieces, smooth and fast reactions to arbitrary changes of the target are also provided. This motion planner opens new possibilities for flexible and sensor-oriented robotics, as examples from its implementation on two robots show.