Towards Safe and Efficient Human-Robot Collaboration: Motion Planning Design in Handling Dynamic Obstacles

Abstract

This paper primarily concerns the enhancement of human safety within shared workspaces with collaborative robots. In this paper, an extension to motion planning framework is proposed in order to support re-planning of trajectories or re-routing to new tasks when dynamic obstacles are encountered within the planning area. A behaviour tree based controller is designed to manage the execution of tasks and enforces safety when the system encounters any obstacles in the workspace. Experimental validation encompasses simulated and real-time settings, involving dynamic obstacle scenarios.